struct mola::LidarOdometry::MethodState::SpecificForce

Overview

One IMU specific force reading, in the vehicle frame.

#include <LidarOdometry.h>

struct SpecificForce
{
    // fields

    double stamp = 0;
    mrpt::math::TVector3D f;
    mrpt::math::TVector3D acc_bias;
};

Fields

double stamp = 0

[s]

mrpt::math::TVector3D f

as read (m/s^2 or units of g)

mrpt::math::TVector3D acc_bias

[m/s^2] from an ImuBiasSource, or zero