struct mola::factors::ImuReading

Overview

One raw IMU reading, in the sensor frame: specific force (before any unit scaling) and angular velocity, sampled at time t [s].

#include <imu_preintegration.h>

struct ImuReading
{
    // fields

    double t = 0;
    gtsam::Vector3 acc;
    gtsam::Vector3 gyr;
};