struct mola::LidarOdometry::Parameters::IMUGravityCorrection

Overview

#include <LidarOdometry.h>

struct IMUGravityCorrection
{
    // fields

    bool enabled = true;
    double sigma_deg = 2.0;
    uint32_t averaging_samples = 20;
    double max_age_seconds = 2.0;

    // methods

    void initialize(const Yaml& c);
};

Fields

bool enabled = true

Enable accelerometer-based pitch/roll correction in ICP prior.

double sigma_deg = 2.0

Sigma [degrees] for the gravity-derived pitch/roll prior. Lower values = more trust in IMU. Typical: 1–5 deg.

uint32_t averaging_samples = 20

Number of recent accelerometer samples to average for gravity estimation.

double max_age_seconds = 2.0

Maximum age [seconds] for accelerometer samples used in averaging. Samples older than this are discarded. 0 = no age limit.