imu_integration Namespace Reference

Classes
class	ButterO1
class	ButterO10
class	ButterO3
class	ButterO5
class	ButterO7
class	DynamicImuFilter
class	Filter
class	IdentityFilter
class	ImuFilter
struct	ImuFilterParams
class	ImuIntegrator
struct	ImuIntegratorParams
struct	ParamsButterO10S62_5Lp3N20_83
struct	ParamsButterO1S125Lp3N33_33
struct	ParamsButterO1S125Lp3N41_66
struct	ParamsButterO1S125Lp3N46_66
struct	ParamsButterO1S62_5Lp3N15_83
struct	ParamsButterO1S62_5Lp3N20_83
struct	ParamsButterO1S62_5Lp3N29_16
struct	ParamsButterO3S125Lp3N33_33
struct	ParamsButterO3S125Lp3N41_66
struct	ParamsButterO3S125Lp3N46_66
struct	ParamsButterO3S62_5Lp3N15_83
struct	ParamsButterO3S62_5Lp3N20_83
struct	ParamsButterO3S62_5Lp3N29_16
struct	ParamsButterO5S125Lp3N33_33
struct	ParamsButterO5S125Lp3N41_66
struct	ParamsButterO5S125Lp3N46_66
struct	ParamsButterO5S62_5Lp0_5N29_16
struct	ParamsButterO5S62_5Lp1N29_16
struct	ParamsButterO5S62_5Lp3N15_83
struct	ParamsButterO5S62_5Lp3N20_83
struct	ParamsButterO5S62_5Lp3N29_16
struct	ParamsButterO7S62_5Lp3N20_83

Typedefs
using	ButterO1S62_5Lp3N29_16 = ButterO1< ParamsButterO1S62_5Lp3N29_16 >
using	ButterO1S62_5Lp3N20_83 = ButterO1< ParamsButterO1S62_5Lp3N20_83 >
using	ButterO1S62_5Lp3N15_83 = ButterO1< ParamsButterO1S62_5Lp3N15_83 >
using	ButterO1S125Lp3N41_66 = ButterO1< ParamsButterO1S125Lp3N41_66 >
using	ButterO1S125Lp3N33_33 = ButterO1< ParamsButterO1S125Lp3N33_33 >
using	ButterO1S125Lp3N46_66 = ButterO1< ParamsButterO1S125Lp3N46_66 >
using	ButterO10S62_5Lp3N20_83 = ButterO10< ParamsButterO10S62_5Lp3N20_83 >
using	ButterO3S62_5Lp3N29_16 = ButterO3< ParamsButterO3S62_5Lp3N29_16 >
using	ButterO3S62_5Lp3N20_83 = ButterO3< ParamsButterO3S62_5Lp3N20_83 >
using	ButterO3S62_5Lp3N15_83 = ButterO3< ParamsButterO3S62_5Lp3N15_83 >
using	ButterO3S125Lp3N41_66 = ButterO3< ParamsButterO3S125Lp3N41_66 >
using	ButterO3S125Lp3N46_66 = ButterO3< ParamsButterO3S125Lp3N46_66 >
using	ButterO3S125Lp3N33_33 = ButterO3< ParamsButterO3S125Lp3N33_33 >
using	ButterO5S62_5Lp3N29_16 = ButterO5< ParamsButterO5S62_5Lp3N29_16 >
using	ButterO5S62_5Lp1N29_16 = ButterO5< ParamsButterO5S62_5Lp1N29_16 >
using	ButterO5S62_5Lp0_5N29_16 = ButterO5< ParamsButterO5S62_5Lp0_5N29_16 >
using	ButterO5S62_5Lp3N20_83 = ButterO5< ParamsButterO5S62_5Lp3N20_83 >
using	ButterO5S62_5Lp3N15_83 = ButterO5< ParamsButterO5S62_5Lp3N15_83 >
using	ButterO5S125Lp3N41_66 = ButterO5< ParamsButterO5S125Lp3N41_66 >
using	ButterO5S125Lp3N46_66 = ButterO5< ParamsButterO5S125Lp3N46_66 >
using	ButterO5S125Lp3N33_33 = ButterO5< ParamsButterO5S125Lp3N33_33 >
using	ButterO7S62_5Lp3N20_83 = ButterO7< ParamsButterO7S62_5Lp3N20_83 >

Functions
void	LoadImuIntegratorParams (config_reader::ConfigReader &config, ImuIntegratorParams &params)
void	LoadImuFilterParams (config_reader::ConfigReader &config, ImuFilterParams &params)
std::unique_ptr< Filter >	LoadFilter (const std::string &filter_type)
ImuIntegratorParams	DefaultImuIntegratorParams ()
std::vector< localization_measurements::ImuMeasurement >	ConstantMeasurements (const Eigen::Vector3d &acceleration, const Eigen::Vector3d &angular_velocity, const int num_measurements, const localization_common::Time start_time, const double time_increment)
gtsam::Rot3	IntegrateAngularVelocities (const std::vector< localization_measurements::ImuMeasurement > &imu_measurements, const gtsam::Rot3 &starting_orientation, const localization_common::Time starting_time)
sensor_msgs::Imu	ImuMsg (const localization_measurements::ImuMeasurement &imu_measurement)
boost::optional< localization_measurements::ImuMeasurement >	Interpolate (const localization_measurements::ImuMeasurement &imu_measurement_a, const localization_measurements::ImuMeasurement &imu_measurement_b, const localization_common::Time timestamp)
gtsam::PreintegratedCombinedMeasurements	Pim (const gtsam::imuBias::ConstantBias &bias, const boost::shared_ptr< gtsam::PreintegratedCombinedMeasurements::Params > &params)
void	AddMeasurement (const localization_measurements::ImuMeasurement &imu_measurement, localization_common::Time &last_added_imu_measurement_time, gtsam::PreintegratedCombinedMeasurements &pim)
localization_common::CombinedNavState	PimPredict (const localization_common::CombinedNavState &combined_nav_state, const gtsam::PreintegratedCombinedMeasurements &pim)

Typedef Documentation

ButterO10S62_5Lp3N20_83

using imu_integration::ButterO10S62_5Lp3N20_83 = typedef ButterO10<ParamsButterO10S62_5Lp3N20_83>

ButterO1S125Lp3N33_33

using imu_integration::ButterO1S125Lp3N33_33 = typedef ButterO1<ParamsButterO1S125Lp3N33_33>

ButterO1S125Lp3N41_66

using imu_integration::ButterO1S125Lp3N41_66 = typedef ButterO1<ParamsButterO1S125Lp3N41_66>

ButterO1S125Lp3N46_66

using imu_integration::ButterO1S125Lp3N46_66 = typedef ButterO1<ParamsButterO1S125Lp3N46_66>

ButterO1S62_5Lp3N15_83

using imu_integration::ButterO1S62_5Lp3N15_83 = typedef ButterO1<ParamsButterO1S62_5Lp3N15_83>

ButterO1S62_5Lp3N20_83

using imu_integration::ButterO1S62_5Lp3N20_83 = typedef ButterO1<ParamsButterO1S62_5Lp3N20_83>

ButterO1S62_5Lp3N29_16

using imu_integration::ButterO1S62_5Lp3N29_16 = typedef ButterO1<ParamsButterO1S62_5Lp3N29_16>

ButterO3S125Lp3N33_33

using imu_integration::ButterO3S125Lp3N33_33 = typedef ButterO3<ParamsButterO3S125Lp3N33_33>

ButterO3S125Lp3N41_66

using imu_integration::ButterO3S125Lp3N41_66 = typedef ButterO3<ParamsButterO3S125Lp3N41_66>

ButterO3S125Lp3N46_66

using imu_integration::ButterO3S125Lp3N46_66 = typedef ButterO3<ParamsButterO3S125Lp3N46_66>

ButterO3S62_5Lp3N15_83

using imu_integration::ButterO3S62_5Lp3N15_83 = typedef ButterO3<ParamsButterO3S62_5Lp3N15_83>

ButterO3S62_5Lp3N20_83

using imu_integration::ButterO3S62_5Lp3N20_83 = typedef ButterO3<ParamsButterO3S62_5Lp3N20_83>

ButterO3S62_5Lp3N29_16

using imu_integration::ButterO3S62_5Lp3N29_16 = typedef ButterO3<ParamsButterO3S62_5Lp3N29_16>

ButterO5S125Lp3N33_33

using imu_integration::ButterO5S125Lp3N33_33 = typedef ButterO5<ParamsButterO5S125Lp3N33_33>

ButterO5S125Lp3N41_66

using imu_integration::ButterO5S125Lp3N41_66 = typedef ButterO5<ParamsButterO5S125Lp3N41_66>

ButterO5S125Lp3N46_66

using imu_integration::ButterO5S125Lp3N46_66 = typedef ButterO5<ParamsButterO5S125Lp3N46_66>

ButterO5S62_5Lp0_5N29_16

using imu_integration::ButterO5S62_5Lp0_5N29_16 = typedef ButterO5<ParamsButterO5S62_5Lp0_5N29_16>

ButterO5S62_5Lp1N29_16

using imu_integration::ButterO5S62_5Lp1N29_16 = typedef ButterO5<ParamsButterO5S62_5Lp1N29_16>

ButterO5S62_5Lp3N15_83

using imu_integration::ButterO5S62_5Lp3N15_83 = typedef ButterO5<ParamsButterO5S62_5Lp3N15_83>

ButterO5S62_5Lp3N20_83

using imu_integration::ButterO5S62_5Lp3N20_83 = typedef ButterO5<ParamsButterO5S62_5Lp3N20_83>

ButterO5S62_5Lp3N29_16

using imu_integration::ButterO5S62_5Lp3N29_16 = typedef ButterO5<ParamsButterO5S62_5Lp3N29_16>

ButterO7S62_5Lp3N20_83

using imu_integration::ButterO7S62_5Lp3N20_83 = typedef ButterO7<ParamsButterO7S62_5Lp3N20_83>

Function Documentation

AddMeasurement()

void imu_integration::AddMeasurement	(	const localization_measurements::ImuMeasurement &	imu_measurement,
		localization_common::Time &	last_added_imu_measurement_time,
		gtsam::PreintegratedCombinedMeasurements &	pim
	)

ConstantMeasurements()

std::vector< lm::ImuMeasurement > imu_integration::ConstantMeasurements	(	const Eigen::Vector3d &	acceleration,
		const Eigen::Vector3d &	angular_velocity,
		const int	num_measurements,
		const localization_common::Time	start_time,
		const double	time_increment
	)

DefaultImuIntegratorParams()

ImuIntegratorParams imu_integration::DefaultImuIntegratorParams

(

)

ImuMsg()

sensor_msgs::Imu imu_integration::ImuMsg

(

const localization_measurements::ImuMeasurement &

imu_measurement

)

IntegrateAngularVelocities()

gtsam::Rot3 imu_integration::IntegrateAngularVelocities	(	const std::vector< localization_measurements::ImuMeasurement > &	imu_measurements,
		const gtsam::Rot3 &	starting_orientation,
		const localization_common::Time	starting_time
	)

Interpolate()

boost::optional< lm::ImuMeasurement > imu_integration::Interpolate	(	const localization_measurements::ImuMeasurement &	imu_measurement_a,
		const localization_measurements::ImuMeasurement &	imu_measurement_b,
		const localization_common::Time	timestamp
	)

LoadFilter()

std::unique_ptr< Filter > imu_integration::LoadFilter

(

const std::string &

filter_type

)

LoadImuFilterParams()

void imu_integration::LoadImuFilterParams	(	config_reader::ConfigReader &	config,
		ImuFilterParams &	params
	)

LoadImuIntegratorParams()

void imu_integration::LoadImuIntegratorParams	(	config_reader::ConfigReader &	config,
		ImuIntegratorParams &	params
	)

Pim()

gtsam::PreintegratedCombinedMeasurements imu_integration::Pim	(	const gtsam::imuBias::ConstantBias &	bias,
		const boost::shared_ptr< gtsam::PreintegratedCombinedMeasurements::Params > &	params
	)

PimPredict()

lc::CombinedNavState imu_integration::PimPredict	(	const localization_common::CombinedNavState &	combined_nav_state,
		const gtsam::PreintegratedCombinedMeasurements &	pim
	)