Base class for LiDAR-IMU odometry estimation. More...

Inheritance diagram for glim::OdometryEstimationIMU:

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Collaboration diagram for glim::OdometryEstimationIMU:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	OdometryEstimationIMU (std::unique_ptr< OdometryEstimationIMUParams > &&params)

virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel) override
	Insert an IMU data.

virtual EstimationFrame::ConstPtr	insert_frame (const PreprocessedFrame::Ptr &frame, std::vector< EstimationFrame::ConstPtr > &marginalized_frames) override
	Insert a point cloud.

virtual std::vector< EstimationFrame::ConstPtr >	get_remaining_frames () override
	Pop out the remaining non-marginalized frames (called at the end of the sequence)

Public Member Functions inherited from glim::OdometryEstimationBase
virtual bool	requires_imu () const
	Returns true if the odometry estimation module requires IMU data.

Protected Types
using	FixedLagSmootherExt = gtsam_points::IncrementalFixedLagSmootherExtWithFallback

Protected Member Functions
virtual void	create_frame (EstimationFrame::Ptr &frame)

virtual gtsam::NonlinearFactorGraph	create_factors (const int current, const gtsam_points::shared_ptr< gtsam::ImuFactor > &imu_factor, gtsam::Values &new_values)=0

virtual void	fallback_smoother ()

virtual void	update_frames (const int current, const gtsam::NonlinearFactorGraph &new_factors)

virtual void	update_smoother (const gtsam::NonlinearFactorGraph &new_factors, const gtsam::Values &new_values, const std::map< std::uint64_t, double > &new_stamp, int update_count=0)

virtual void	update_smoother (int update_count=1)

Protected Attributes
std::unique_ptr< OdometryEstimationIMUParams >	params

Eigen::Isometry3d	T_lidar_imu

Eigen::Isometry3d	T_imu_lidar

int	marginalized_cursor

gtsam_points::IndexedSlidingWindow< EstimationFrame::Ptr >	frames

std::unique_ptr< InitialStateEstimation >	init_estimation

std::unique_ptr< IMUIntegration >	imu_integration

std::unique_ptr< CloudDeskewing >	deskewing

std::unique_ptr< CloudCovarianceEstimation >	covariance_estimation

std::unique_ptr< FixedLagSmootherExt >	smoother

std::shared_ptr< void >	tbb_task_arena

Protected Attributes inherited from glim::OdometryEstimationBase
std::shared_ptr< spdlog::logger >	logger

Additional Inherited Members
Static Public Member Functions inherited from glim::OdometryEstimationBase
static std::shared_ptr< OdometryEstimationBase >	load_module (const std::string &so_name)
	Load an odometry estimation module from a dynamic library.

Detailed Description

Base class for LiDAR-IMU odometry estimation.

Member Function Documentation

virtual std::vector< EstimationFrame::ConstPtr > glim::OdometryEstimationIMU::get_remaining_frames ( )

overridevirtual

Pop out the remaining non-marginalized frames (called at the end of the sequence)

virtual EstimationFrame::ConstPtr glim::OdometryEstimationIMU::insert_frame	(	const PreprocessedFrame::Ptr &	frame,
		std::vector< EstimationFrame::ConstPtr > &	marginalized_states
	)

overridevirtual

Insert a point cloud.

Parameters

frame	Preprocessed point cloud
marginalized_states	[out] Marginalized estimation frames

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

overridevirtual

Insert an IMU data.

Parameters

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