xrt::tracking::constellation::optimizer::ImuBias< T > Struct Template Reference

A full-state IMU bias, with Accelerometer Bias, Gyroscope Bias, and Accelerometer Scale. More...

#include </builds/monado/monado/src/xrt/tracking/constellation/optimizer/imu_preintegration.hpp>

Collaboration diagram for xrt::tracking::constellation::optimizer::ImuBias< T >:

Public Member Functions
	ImuBias (const Vector3< T > &accel_bias, const Vector3< T > &gyro_bias, const Vector3< T > &accel_scale)
	ImuBias (Eigen::Ref< const Vector< T, kNumParameters > > parameters)
void	pack (Eigen::Ref< Vector< T, kNumParameters > > parameters)
ImuBias< ImuBiasJet >	seed () const

Data Fields
Vector3< T >	accel_bias
Vector3< T >	gyro_bias
Vector3< T >	accel_scale

Static Public Attributes
static constexpr int	kNumParameters = static_cast<int>(ImuBiasStateIndex::NumIndices)
static constexpr int	kAccelBiasIndex = static_cast<int>(ImuBiasStateIndex::AccelBiasX)
static constexpr int	kGyroBiasIndex = static_cast<int>(ImuBiasStateIndex::GyroBiasX)
static constexpr int	kAccelScaleIndex = static_cast<int>(ImuBiasStateIndex::AccelScaleX)

Detailed Description

template<typename T>
struct xrt::tracking::constellation::optimizer::ImuBias< T >

A full-state IMU bias, with Accelerometer Bias, Gyroscope Bias, and Accelerometer Scale.

Everything here belongs to one physical IMU, so a solve over several devices holds one of these per device. The strength of gravity is shared by all of them and lives in WorldGravity instead.

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

• tracking/constellation/optimizer/imu_preintegration.hpp