wmr_inertial_sensor_config Struct Reference

Collaboration diagram for wmr_inertial_sensor_config:

Data Fields
struct xrt_vec3	translation
	Raw translation (to HT0). More...
struct xrt_matrix_3x3	rotation
	Raw rotation (to HT0), row major. More...
struct xrt_pose	pose
	Pose from translation and rotation More...
struct xrt_vec3	bias_offsets
struct xrt_matrix_3x3	mix_matrix
struct xrt_vec3	bias_var
	Bias random walk variance. More...
struct xrt_vec3	noise_std
	Measurement noise standard deviation. More...

Field Documentation

bias_var

struct xrt_vec3 wmr_inertial_sensor_config::bias_var

Bias random walk variance.

See also

slam_tracker::inertial_calibration.

noise_std

struct xrt_vec3 wmr_inertial_sensor_config::noise_std

Measurement noise standard deviation.

See also

slam_tracker::inertial_calibration.

pose

struct xrt_pose wmr_inertial_sensor_config::pose

Pose from translation and rotation

Referenced by wmr_config_precompute_transforms(), wmr_hmd_config_init_defaults(), and wmr_hmd_fill_slam_cams_calibration().

rotation

struct xrt_matrix_3x3 wmr_inertial_sensor_config::rotation

Raw rotation (to HT0), row major.

translation

struct xrt_vec3 wmr_inertial_sensor_config::translation

Raw translation (to HT0).

Usually non-zero only on accelerometers.

---

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

• drivers/wmr/wmr_config.h