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<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<divclass="line"><aid="l00010"name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
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<divclass="line"><aid="l00073"name="l00073"></a><spanclass="lineno"> 73</span><spanclass="keyword">const</span> cv::Mat & orientationCovariance,</div>
<divclass="line"><aid="l00074"name="l00074"></a><spanclass="lineno"> 74</span><spanclass="keyword">const</span> cv::Vec3d & angularVelocity,</div>
<divclass="line"><aid="l00075"name="l00075"></a><spanclass="lineno"> 75</span><spanclass="keyword">const</span> cv::Mat & angularVelocityCovariance,</div>
<divclass="line"><aid="l00076"name="l00076"></a><spanclass="lineno"> 76</span><spanclass="keyword">const</span> cv::Vec3d & linearAcceleration,</div>
<divclass="line"><aid="l00077"name="l00077"></a><spanclass="lineno"> 77</span><spanclass="keyword">const</span> cv::Mat & linearAccelerationCovariance,</div>
<divclass="line"><aid="l00097"name="l00097"></a><spanclass="lineno"><aclass="line"href="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6"> 97</a></span><aclass="code hl_function"href="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6">IMU</a>(<spanclass="keyword">const</span> cv::Vec3d & angularVelocity,</div>
<divclass="line"><aid="l00098"name="l00098"></a><spanclass="lineno"> 98</span><spanclass="keyword">const</span> cv::Mat & angularVelocityCovariance,</div>
<divclass="line"><aid="l00099"name="l00099"></a><spanclass="lineno"> 99</span><spanclass="keyword">const</span> cv::Vec3d & linearAcceleration,</div>
<divclass="line"><aid="l00100"name="l00100"></a><spanclass="lineno"> 100</span><spanclass="keyword">const</span> cv::Mat & linearAccelerationCovariance,</div>
<divclass="ttc"id="aclassrtabmap_1_1IMUEvent_html"><divclass="ttname"><ahref="classrtabmap_1_1IMUEvent.html">rtabmap::IMUEvent</a></div><divclass="ttdoc">UEvent carrying an IMU sample and timestamp.</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00163">IMU.h:164</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMUEvent_html_a1ab86d7c16b1cadb44f0440808a9a81b"><divclass="ttname"><ahref="classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b">rtabmap::IMUEvent::IMUEvent</a></div><divclass="ttdeci">IMUEvent()</div><divclass="ttdoc">Default-constructs an event with zero stamp.</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00167">IMU.h:167</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMUEvent_html_a3ebdf9e3cb56c153bf76d4aad5a6b44e"><divclass="ttname"><ahref="classrtabmap_1_1IMUEvent.html#a3ebdf9e3cb56c153bf76d4aad5a6b44e">rtabmap::IMUEvent::getData</a></div><divclass="ttdeci">const IMU & getData() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00183">IMU.h:183</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMUEvent_html_af041b297fa5f621dbc4fd085b16da800"><divclass="ttname"><ahref="classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800">rtabmap::IMUEvent::IMUEvent</a></div><divclass="ttdeci">IMUEvent(const IMU &data, double stamp)</div><divclass="ttdoc">Constructs an event with IMU data and stamp.</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00175">IMU.h:175</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a10cfadbe31bbf80822a9ab92c0892b33"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">rtabmap::IMU::localTransform</a></div><divclass="ttdeci">const Transform & localTransform() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00126">IMU.h:126</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a1ccae83f46e87d28e56bcfc4a25fafb8"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8">rtabmap::IMU::convertToBaseFrame</a></div><divclass="ttdeci">void convertToBaseFrame()</div><divclass="ttdoc">Rotate motion (and optionally orientation) into the base frame.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a2160e6d59e4f9e3ffc84a2b7d62bdabd"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">rtabmap::IMU::orientation</a></div><divclass="ttdeci">const cv::Vec4d & orientation() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00111">IMU.h:111</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a2ee035bffb85f1681ad3525c32ba1243"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">rtabmap::IMU::linearAccelerationCovariance</a></div><divclass="ttdeci">const cv::Mat & linearAccelerationCovariance() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00123">IMU.h:123</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a3171afc29cdf8587a401b6da1b1908e6"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6">rtabmap::IMU::IMU</a></div><divclass="ttdeci">IMU(const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())</div><divclass="ttdoc">Constructs a sample without orientation (e.g. no magnetometer / no attitude).</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00097">IMU.h:97</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a660c82c641525ff24aefa7e03ebf7d4a"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a">rtabmap::IMU::angularVelocityCovariance</a></div><divclass="ttdeci">const cv::Mat & angularVelocityCovariance() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00118">IMU.h:118</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a76e674d3ef1865369e1416ae5ff76483"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483">rtabmap::IMU::IMU</a></div><divclass="ttdeci">IMU()</div><divclass="ttdoc">Default-constructs an empty sample (null localTransform()).</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00060">IMU.h:60</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a8db1233b6871dcbd58f1862cee2826fa"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a8db1233b6871dcbd58f1862cee2826fa">rtabmap::IMU::IMU</a></div><divclass="ttdeci">IMU(const cv::Vec4d &orientation, const cv::Mat &orientationCovariance, const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())</div><divclass="ttdoc">Constructs a sample with orientation and motion data.</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00072">IMU.h:72</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_a8fde3445664329d6432b632fca9db17a"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">rtabmap::IMU::linearAcceleration</a></div><divclass="ttdeci">const cv::Vec3d & linearAcceleration() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00121">IMU.h:121</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_ab7668040b92bfa5532c5e1c19ddbf429"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">rtabmap::IMU::orientationCovariance</a></div><divclass="ttdeci">const cv::Mat & orientationCovariance() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00113">IMU.h:113</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_ace111e68ca49e6d47cc92f53a0be87ef"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef">rtabmap::IMU::empty</a></div><divclass="ttdeci">bool empty() const</div><divclass="ttdoc">True when localTransform() is null (placeholder / unset sample).</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00141">IMU.h:141</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMU_html_ad0160a803d2005f3f4db27c402e6bceb"><divclass="ttname"><ahref="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb">rtabmap::IMU::angularVelocity</a></div><divclass="ttdeci">const cv::Vec3d & angularVelocity() const</div><divclass="ttdef"><b>Definition</b><ahref="IMU_8h_source.html#l00116">IMU.h:116</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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