glim::InitialStateEstimation Class Reference

Initial sensor state estimator. More...

#include <initial_state_estimation.hpp>

Inheritance diagram for glim::InitialStateEstimation:

Public Member Functions
virtual void	insert_imu (double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU data.
virtual void	insert_frame (const PreprocessedFrame::ConstPtr &raw_frame)
	Insert a point cloud.
virtual EstimationFrame::ConstPtr	initial_pose ()=0
	Get the initial estimation result.

Protected Attributes
std::shared_ptr< spdlog::logger >	logger

Detailed Description

Initial sensor state estimator.

Member Function Documentation

initial_pose()

virtual EstimationFrame::ConstPtr glim::InitialStateEstimation::initial_pose ( )

pure virtual

Get the initial estimation result.

Returns

EstimationFrame::ConstPtr Estimated initial state

nullptr If it's not ready

Implemented in glim::NaiveInitialStateEstimation, and glim::LooseInitialStateEstimation.

insert_frame()

virtual void glim::InitialStateEstimation::insert_frame ( const PreprocessedFrame::ConstPtr &  raw_frame )

inlinevirtual

Insert a point cloud.

Parameters

raw_frame

Preprocessed point cloud

Reimplemented in glim::LooseInitialStateEstimation.

insert_imu()

virtual void glim::InitialStateEstimation::insert_imu ( double  stamp, const Eigen::Vector3d &  linear_acc, const Eigen::Vector3d &  angular_vel  )

inlinevirtual

Insert an IMU data.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

Reimplemented in glim::NaiveInitialStateEstimation, and glim::LooseInitialStateEstimation.

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The documentation for this class was generated from the following file:

• /home/runner/work/glim/glim/include/glim/odometry/initial_state_estimation.hpp