mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
210 lines
22 KiB
HTML
210 lines
22 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|||
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
||
|
|
<head>
|
||
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
||
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
||
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
||
|
|
<title>RTAB-Map: corelib/include/rtabmap/core/IMUThread.h Source File</title>
|
||
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||
|
|
<script type="text/javascript" src="jquery.js"></script>
|
||
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
||
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
||
|
|
<script type="text/javascript" src="resize.js"></script>
|
||
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
||
|
|
<script type="text/javascript" src="navtree.js"></script>
|
||
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
||
|
|
<script type="text/javascript" src="search/search.js"></script>
|
||
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
||
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
||
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
||
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
||
|
|
<script type="text/javascript" src="../versions.js"></script>
|
||
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
||
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
||
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
||
|
|
</head>
|
||
|
|
<body>
|
||
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
||
|
|
<div id="titlearea">
|
||
|
|
<table cellspacing="0" cellpadding="0">
|
||
|
|
<tbody>
|
||
|
|
<tr id="projectrow">
|
||
|
|
<td id="projectalign">
|
||
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.12</span>
|
||
|
|
</div>
|
||
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
||
|
|
</td>
|
||
|
|
</tr>
|
||
|
|
</tbody>
|
||
|
|
</table>
|
||
|
|
</div>
|
||
|
|
<!-- end header part -->
|
||
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
||
|
|
<script type="text/javascript">
|
||
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
||
|
|
/* @license-end */
|
||
|
|
</script>
|
||
|
|
<script type="text/javascript" src="menudata.js"></script>
|
||
|
|
<script type="text/javascript" src="menu.js"></script>
|
||
|
|
<script type="text/javascript">
|
||
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
|
|
$(function() {
|
||
|
|
initMenu('',true,false,'search.php','Search');
|
||
|
|
$(document).ready(function() { init_search(); });
|
||
|
|
});
|
||
|
|
/* @license-end */
|
||
|
|
</script>
|
||
|
|
<div id="main-nav"></div>
|
||
|
|
<script type="text/javascript">
|
||
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
|
|
$(document).ready(function() { init_codefold(0); });
|
||
|
|
/* @license-end */
|
||
|
|
</script>
|
||
|
|
</div><!-- top -->
|
||
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
||
|
|
<div id="nav-tree">
|
||
|
|
<div id="nav-tree-contents">
|
||
|
|
<div id="nav-sync" class="sync"></div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
||
|
|
class="ui-resizable-handle">
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
<script type="text/javascript">
|
||
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
|
|
$(document).ready(function(){initNavTree('IMUThread_8h_source.html',''); initResizable(); });
|
||
|
|
/* @license-end */
|
||
|
|
</script>
|
||
|
|
<div id="doc-content">
|
||
|
|
<!-- window showing the filter options -->
|
||
|
|
<div id="MSearchSelectWindow"
|
||
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
||
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
||
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||
|
|
</div>
|
||
|
|
|
||
|
|
<!-- iframe showing the search results (closed by default) -->
|
||
|
|
<div id="MSearchResultsWindow">
|
||
|
|
<div id="MSearchResults">
|
||
|
|
<div class="SRPage">
|
||
|
|
<div id="SRIndex">
|
||
|
|
<div id="SRResults"></div>
|
||
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
||
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
||
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
</div>
|
||
|
|
|
||
|
|
<div class="header">
|
||
|
|
<div class="headertitle"><div class="title">IMUThread.h</div></div>
|
||
|
|
</div><!--header-->
|
||
|
|
<div class="contents">
|
||
|
|
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
|
||
|
|
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
|
||
|
|
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
|
||
|
|
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
|
||
|
|
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
|
||
|
|
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
|
||
|
|
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
|
||
|
|
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
|
||
|
|
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
|
||
|
|
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
|
||
|
|
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
|
||
|
|
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
|
||
|
|
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
|
||
|
|
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
|
||
|
|
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
|
||
|
|
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
|
||
|
|
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
|
||
|
|
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
|
||
|
|
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
|
||
|
|
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
|
||
|
|
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
|
||
|
|
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
|
||
|
|
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
|
||
|
|
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
|
||
|
|
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
|
||
|
|
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
|
||
|
|
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
|
||
|
|
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#pragma once</span></div>
|
||
|
|
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
|
||
|
|
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
|
||
|
|
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
|
||
|
|
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
|
||
|
|
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <rtabmap/core/Parameters.h></span></div>
|
||
|
|
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <rtabmap/utilite/UThread.h></span></div>
|
||
|
|
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/utilite/UEventsSender.h></span></div>
|
||
|
|
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <rtabmap/utilite/UTimer.h></span></div>
|
||
|
|
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
|
||
|
|
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <fstream></span></div>
|
||
|
|
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
|
||
|
|
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
|
||
|
|
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
|
||
|
|
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">class </span>IMUFilter;</div>
|
||
|
|
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
|
||
|
|
<div class="foldopen" id="foldopen00065" data-start="{" data-end="};">
|
||
|
|
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html"> 65</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1IMUThread.html">IMUThread</a> :</div>
|
||
|
|
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a>,</div>
|
||
|
|
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keyword">public</span> <a class="code hl_class" href="classUEventsSender.html">UEventsSender</a></div>
|
||
|
|
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>{</div>
|
||
|
|
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="keyword">public</span>:</div>
|
||
|
|
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3"> 75</a></span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3">IMUThread</a>(<span class="keywordtype">int</span> rate, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform);</div>
|
||
|
|
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1IMUThread.html">~IMUThread</a>();</div>
|
||
|
|
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
|
||
|
|
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d"> 83</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d">init</a>(<span class="keyword">const</span> std::string & path);</div>
|
||
|
|
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
|
||
|
|
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb"> 86</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb">setRate</a>(<span class="keywordtype">int</span> rate);</div>
|
||
|
|
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
|
||
|
|
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab"> 94</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab">enableIMUFiltering</a>(<span class="keywordtype">int</span> filteringStrategy = 1, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <span class="keywordtype">bool</span> baseFrameConversion = <span class="keyword">false</span>);</div>
|
||
|
|
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
|
||
|
|
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#a7934573b7f4899278f1b048cf9a686bc"> 97</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#a7934573b7f4899278f1b048cf9a686bc">disableIMUFiltering</a>();</div>
|
||
|
|
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
|
||
|
|
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span><span class="keyword">private</span>:</div>
|
||
|
|
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
|
||
|
|
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
|
||
|
|
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
|
||
|
|
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span><span class="keyword">private</span>:</div>
|
||
|
|
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">int</span> rate_;</div>
|
||
|
|
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> localTransform_;</div>
|
||
|
|
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> std::ifstream imuFile_;</div>
|
||
|
|
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <a class="code hl_class" href="classUTimer.html">UTimer</a> frameRateTimer_;</div>
|
||
|
|
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">double</span> captureDelay_;</div>
|
||
|
|
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">double</span> previousStamp_;</div>
|
||
|
|
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> * _imuFilter;</div>
|
||
|
|
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">bool</span> _imuBaseFrameConversion;</div>
|
||
|
|
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span>};</div>
|
||
|
|
</div>
|
||
|
|
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
|
||
|
|
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span>} <span class="comment">// namespace rtabmap</span></div>
|
||
|
|
<div class="ttc" id="aclassUEventsSender_html"><div class="ttname"><a href="classUEventsSender.html">UEventsSender</a></div><div class="ttdef"><b>Definition</b> <a href="UEventsSender_8h_source.html#l00015">UEventsSender.h:16</a></div></div>
|
||
|
|
<div class="ttc" id="aclassUThread_html"><div class="ttname"><a href="classUThread.html">UThread</a></div><div class="ttdef"><b>Definition</b> <a href="UThread_8h_source.html#l00086">UThread.h:87</a></div></div>
|
||
|
|
<div class="ttc" id="aclassUTimer_html"><div class="ttname"><a href="classUTimer.html">UTimer</a></div><div class="ttdef"><b>Definition</b> <a href="UTimer_8h_source.html#l00046">UTimer.h:47</a></div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html">rtabmap::IMUFilter</a></div><div class="ttdoc">Fuses gyroscope and accelerometer samples into an orientation quaternion.</div><div class="ttdef"><b>Definition</b> <a href="IMUFilter_8h_source.html#l00058">IMUFilter.h:59</a></div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html">rtabmap::IMUThread</a></div><div class="ttdoc">Background thread that replays IMU measurements from a CSV file.</div><div class="ttdef"><b>Definition</b> <a href="IMUThread_8h_source.html#l00065">IMUThread.h:68</a></div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html_a3b646ffce1964e2ab6bc314dc4b27deb"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb">rtabmap::IMUThread::setRate</a></div><div class="ttdeci">void setRate(int rate)</div><div class="ttdoc">Sets the target playback rate in Hz.</div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html_a7934573b7f4899278f1b048cf9a686bc"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html#a7934573b7f4899278f1b048cf9a686bc">rtabmap::IMUThread::disableIMUFiltering</a></div><div class="ttdeci">void disableIMUFiltering()</div><div class="ttdoc">Disables fusion and deletes the internal IMUFilter.</div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html_a97a2c48c6bb7e29ae64147fc9f032ac3"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3">rtabmap::IMUThread::IMUThread</a></div><div class="ttdeci">IMUThread(int rate, const Transform &localTransform)</div><div class="ttdoc">Constructs the replay thread.</div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html_ad7e54aa5d2c6a9354e38bda9f01c89ab"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab">rtabmap::IMUThread::enableIMUFiltering</a></div><div class="ttdeci">void enableIMUFiltering(int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)</div><div class="ttdoc">Enables orientation fusion on replayed samples.</div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html_aeed84fd5d571a5e9af54c8c3ea16ef9d"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d">rtabmap::IMUThread::init</a></div><div class="ttdeci">bool init(const std::string &path)</div><div class="ttdoc">Opens and validates an IMU CSV file.</div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
|
||
|
|
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
|
||
|
|
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
|
||
|
|
</div><!-- fragment --></div><!-- contents -->
|
||
|
|
</div><!-- doc-content -->
|
||
|
|
<!-- start footer part -->
|
||
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||
|
|
<ul>
|
||
|
|
<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><b>IMUThread.h</b></li>
|
||
|
|
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
</body>
|
||
|
|
</html>
|