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

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

Public Member Functions
template<typename Derived >
	ImuExtrinsics (Quaternion< Derived > quat)
	ImuExtrinsics (Eigen::Ref< const Vector< T, kNumParameters > > parameters)
void	pack (Eigen::Ref< Vector< T, kNumParameters > > parameters) const

Data Fields
Quaternion< T >	Q_imu_model

Static Public Attributes
static constexpr int	kNumParameters = 4
	(qX, qY, qZ, qW)
static constexpr int	kNumTangentParameters = 3
	Degrees of freedom.

Field Documentation

kNumParameters

template<typename T >

constexpr int xrt::tracking::constellation::optimizer::ImuExtrinsics< T >::kNumParameters = 4

staticconstexpr

(qX, qY, qZ, qW)

kNumTangentParameters

template<typename T >

constexpr int xrt::tracking::constellation::optimizer::ImuExtrinsics< T >::kNumTangentParameters = 3

staticconstexpr

Degrees of freedom.

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

• tracking/constellation/optimizer/internal_math.hpp