struct mola::state_estimation_simple::StateEstimationSimple::Integration

Overview

Strapdown integration of the IMU readings in imu_history over (t0, t1], from orientation R0 and velocity v0 (both in the reference frame). Returns nullopt if the readings do not cover the interval. Must be called with state_mtx_ already held.

struct Integration
{
    // fields

    mrpt::math::TVector3D displacement;
    mrpt::math::TVector3D velocity;
    mrpt::math::CMatrixDouble33 rotation;
};