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

The strength of gravity in the world, as a parameter block of its own. More...

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

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

Public Member Functions
	WorldGravity (T gravity_mag)
	WorldGravity (Eigen::Ref< const Vector< T, kNumParameters > > parameters)
void	pack (Eigen::Ref< Vector< T, kNumParameters > > parameters) const
Vector3< T >	toVector () const
	Gravity as a vector, which points along +Y since world up is -Y in the OpenCV space the optimizer works in.

Data Fields
T	gravity_mag
	Gravity in meters per second squared.

Static Public Attributes
static constexpr int	kNumParameters = 1
static constexpr int	kGravityMagIndex = 0

Detailed Description

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

The strength of gravity in the world, as a parameter block of its own.

This is a property of where the capture was taken rather than of any one sensor, so every IMU in a solve shares this single block while each keeps its own ImuBias.

Member Function Documentation

toVector()

template<typename T >

Vector3< T > xrt::tracking::constellation::optimizer::WorldGravity< T >::toVector ( ) const

inline

Gravity as a vector, which points along +Y since world up is -Y in the OpenCV space the optimizer works in.

Field Documentation

gravity_mag

template<typename T >

T xrt::tracking::constellation::optimizer::WorldGravity< T >::gravity_mag

Gravity in meters per second squared.

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

• tracking/constellation/optimizer/internal_math.hpp