NASA Astrobee Robot Software  0.16.6
Flight software for the Astrobee robot operating inside the International Space Station.
imu_augmentor::ImuAugmentor Class Reference

#include <imu_augmentor.h>

Inheritance diagram for imu_augmentor::ImuAugmentor:
Inheritance graph

Public Member Functions

 ImuAugmentor (const ImuAugmentorParams &params)
 
void PimPredict (const localization_common::CombinedNavState &latest_combined_nav_state, localization_common::CombinedNavState &latest_imu_augmented_combined_nav_state)
 
- Public Member Functions inherited from imu_integration::ImuIntegrator
 ImuIntegrator (const ImuIntegratorParams &params=ImuIntegratorParams())
 
void BufferImuMeasurement (const localization_measurements::ImuMeasurement &imu_measurement)
 
boost::optional< localization_common::TimeIntegrateImuMeasurements (const localization_common::Time start_time, const localization_common::Time end_time, gtsam::PreintegratedCombinedMeasurements &pim) const
 
boost::optional< gtsam::PreintegratedCombinedMeasurements > IntegratedPim (const gtsam::imuBias::ConstantBias &bias, const localization_common::Time start_time, const localization_common::Time end_time, boost::shared_ptr< gtsam::PreintegratedCombinedMeasurements::Params > params) const
 
void RemoveOldMeasurements (const localization_common::Time new_start_time)
 
boost::optional< localization_common::TimeOldestTime () const
 
boost::optional< localization_common::TimeLatestTime () const
 
boost::optional< localization_measurements::ImuMeasurementLatestMeasurement () const
 
bool Empty () const
 
int Size () const
 
void SetFanSpeedMode (const localization_measurements::FanSpeedMode fan_speed_mode)
 
localization_measurements::FanSpeedMode fan_speed_mode () const
 
boost::shared_ptr< gtsam::PreintegratedCombinedMeasurements::Params > pim_params () const
 
bool WithinBounds (const localization_common::Time timestamp)
 
const std::map< localization_common::Time, localization_measurements::ImuMeasurement > & measurements () const
 

Constructor & Destructor Documentation

◆ ImuAugmentor()

imu_augmentor::ImuAugmentor::ImuAugmentor ( const ImuAugmentorParams params)
explicit

Member Function Documentation

◆ PimPredict()

void imu_augmentor::ImuAugmentor::PimPredict ( const localization_common::CombinedNavState latest_combined_nav_state,
localization_common::CombinedNavState latest_imu_augmented_combined_nav_state 
)

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