Naive initial state estimator that simply calculates a pose that aligns linear acc with the gravity direction Would not work well when the sensor is moving. More...
#include <initial_state_estimation.hpp>
Inheritance diagram for glim::NaiveInitialStateEstimation:
Collaboration diagram for glim::NaiveInitialStateEstimation:
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | NaiveInitialStateEstimation (const Eigen::Isometry3d &T_lidar_imu, const Eigen::Matrix< double, 6, 1 > &imu_bias) |
| 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. | |
| void | set_init_state (const Eigen::Isometry3d &init_T_world_imu, const Eigen::Vector3d &init_v_world_imu) |
 Public Member Functions inherited from glim::InitialStateEstimation | |
| virtual void | insert_frame (const PreprocessedFrame::ConstPtr &raw_frame) |
| Insert a point cloud. | |
Additional Inherited Members | |
| Protected Attributes inherited from glim::InitialStateEstimation | |
| std::shared_ptr< spdlog::logger > | logger |
Detailed Description
Naive initial state estimator that simply calculates a pose that aligns linear acc with the gravity direction Would not work well when the sensor is moving.
Member Function Documentation
◆ initial_pose()
|
overridevirtual |
Get the initial estimation result.
- Returns
- EstimationFrame::ConstPtr Estimated initial state
- nullptr If it's not ready
Implements glim::InitialStateEstimation.
◆ insert_imu()
|
overridevirtual |
Insert an IMU data.
- Parameters
-
stamp Timestamp linear_acc Linear acceleration angular_vel Angular velocity
Reimplemented from glim::InitialStateEstimation.
The documentation for this class was generated from the following file:
- /home/runner/work/glim/glim/include/glim/odometry/initial_state_estimation.hpp
