sophus::ScalingNonOrthogonalityGyroModel< TT > Struct Template Reference

#include <imu_model.h>

Public Member Functions
	ScalingNonOrthogonalityGyroModel (Eigen::Matrix< TT, 3, 1 > const &scale=Eigen::Matrix< TT, 3, 1 >::Ones(), Eigen::Matrix< TT, 3, 1 > const &non_orthogonality=Eigen::Matrix< TT, 3, 1 >::Zero(), Eigen::Matrix< TT, 3, 1 > const &gyro_bias=Eigen::Matrix< TT, 3, 1 >::Zero())
auto	gyroMeasurement (Eigen::Matrix< TT, 3, 1 > const &imu_angular_rate_imu) const -> Eigen::Matrix< TT, 3, 1 >
auto	params () const -> Eigen::Matrix< TT, 9, 1 >

Static Public Member Functions
static auto	fromParams (Eigen::Matrix< TT, 9, 1 > const &params) -> ScalingNonOrthogonalityGyroModel< TT >

Public Attributes
Eigen::Matrix< TT, 3, 1 >	scale
Eigen::Matrix< TT, 3, 1 >	non_orthogonality
Eigen::Matrix< TT, 3, 1 >	gyro_bias

Constructor & Destructor Documentation

ScalingNonOrthogonalityGyroModel()

template<class TT >

sophus::ScalingNonOrthogonalityGyroModel< TT >::ScalingNonOrthogonalityGyroModel ( Eigen::Matrix< TT, 3, 1 > const &  scale = Eigen::Matrix<TT, 3, 1>::Ones(), Eigen::Matrix< TT, 3, 1 > const &  non_orthogonality = Eigen::Matrix<TT, 3, 1>::Zero(), Eigen::Matrix< TT, 3, 1 > const &  gyro_bias = Eigen::Matrix<TT, 3, 1>::Zero()  )

inline

Member Function Documentation

fromParams()

template<class TT >

static auto sophus::ScalingNonOrthogonalityGyroModel< TT >::fromParams ( Eigen::Matrix< TT, 9, 1 > const &  params ) -> ScalingNonOrthogonalityGyroModel<TT>

inlinestatic

gyroMeasurement()

template<class TT >

auto sophus::ScalingNonOrthogonalityGyroModel< TT >::gyroMeasurement ( Eigen::Matrix< TT, 3, 1 > const &  imu_angular_rate_imu ) const -> Eigen::Matrix<TT, 3, 1>

inline

params()

template<class TT >

auto sophus::ScalingNonOrthogonalityGyroModel< TT >::params ( ) const -> Eigen::Matrix<TT, 9, 1>

inline

Member Data Documentation

gyro_bias

template<class TT >

Eigen::Matrix<TT, 3, 1> sophus::ScalingNonOrthogonalityGyroModel< TT >::gyro_bias

non_orthogonality

template<class TT >

Eigen::Matrix<TT, 3, 1> sophus::ScalingNonOrthogonalityGyroModel< TT >::non_orthogonality

scale

template<class TT >

Eigen::Matrix<TT, 3, 1> sophus::ScalingNonOrthogonalityGyroModel< TT >::scale

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

• projects/farm-ng-core/cpp/sophus/sensor/imu_model.h