glim::LooseInitialStateEstimation Class Reference

Inheritance diagram for glim::LooseInitialStateEstimation:

Collaboration diagram for glim::LooseInitialStateEstimation:

Public Member Functions
	LooseInitialStateEstimation (const Eigen::Isometry3d &T_lidar_imu, const Eigen::Matrix< double, 6, 1 > &imu_bias)
virtual void	insert_frame (const PreprocessedFrame::ConstPtr &raw_frame) override
	Insert a point cloud.
virtual void	insert_imu (double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel) override
	Insert an IMU data.
virtual EstimationFrame::ConstPtr	initial_pose () override
	Get the initial estimation result.

Additional Inherited Members
Protected Attributes inherited from glim::InitialStateEstimation
std::shared_ptr< spdlog::logger >	logger

Member Function Documentation

initial_pose()

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

overridevirtual

Get the initial estimation result.

Returns

EstimationFrame::ConstPtr Estimated initial state

nullptr If it's not ready

Implements glim::InitialStateEstimation.

insert_frame()

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

overridevirtual

Insert a point cloud.

Parameters

raw_frame

Preprocessed point cloud

Reimplemented from glim::InitialStateEstimation.

insert_imu()

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

overridevirtual

Insert an IMU data.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

Reimplemented from glim::InitialStateEstimation.

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

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