struct gtsam::IMUHelper

struct IMUHelper
{
    // fields

    imuBias::ConstantBias priorImuBias;
    noiseModel::Robust::shared_ptr velocityNoiseModel;
    noiseModel::Robust::shared_ptr biasNoiseModel;
    NavState prevState;
    NavState propState;
    imuBias::ConstantBias prevBias;
    PreintegratedCombinedMeasurements* preintegrated;
};