struct mola::state_estimation_smoother::StateEstimationSmoother::State::GravityAverage

Overview

Per IMU sensor label, accelerometer readings being averaged for the next gravity factor (see imu_gravity_min_sample_period)

#include <StateEstimationSmoother.h>

struct GravityAverage
{
    // fields

    std::optional<mrpt::Clock::time_point> first_stamp;
    mrpt::math::TVector3D sum {0, 0, 0};
    size_t count = 0;
};