IMU initialization parameters structure. More...

#include <imu.hpp>

Inheritance diagram for IMU::Parameters:

Collaboration diagram for IMU::Parameters:

Public Attributes
bool	is_extrinsic {false}
	Extrinsic calibration.

bool	is_intrinsic {false}
	Intrinsic calibration.

Eigen::Vector3d	pos_i_in_b {0, 0, 0}
	Position offset vector.

Eigen::Quaterniond	ang_i_to_b {1, 0, 0, 0}
	Angular offset quaternion.

Eigen::Vector3d	acc_bias {0, 0, 0}
	Accelerometer bias vector.

Eigen::Vector3d	omg_bias {0, 0, 0}
	Gyroscope bias vector.

double	pos_stability {1e-9}
	Position stability.

double	ang_stability {1e-9}
	Angular stability.

double	acc_bias_stability {1e-9}
	Accelerometer bias stability.

double	omg_bias_stability {1e-9}
	Gyroscope bias stability.

double	motion_detection_threshold {1.0}
	Motion detection chi-Squared threshold.

double	noise_scale_factor {1.0}
	Stationary noise scale factor.

Eigen::VectorXd	variance {{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}}
	Initial state variance.

Public Attributes inherited from Sensor::Parameters
std::string	name {""}
	Name.

std::string	topic {""}
	Topic.

double	rate {1.0}
	Update rate.

double	data_log_rate {0.0}
	Data logging rate.

std::string	log_directory {""}
	Data logging directory.

std::shared_ptr< DebugLogger >	logger
	Debug logger.

std::shared_ptr< EKF >	ekf
	EKF to update.

Detailed Description

IMU initialization parameters structure.

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

Public Attributes