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<p>Predicts the pose of the base frame from the last odometry pose and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>.
<a href="classrtabmap_1_1ImuMotionPredictor.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a765b9d6ae74d6fdcfbcc55e9d28b3feb" id="r_a765b9d6ae74d6fdcfbcc55e9d28b3feb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a> (double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</td></tr>
<tr class="separator:a765b9d6ae74d6fdcfbcc55e9d28b3feb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fd44e11cecf9e3b4fb16dff1bca0166" id="r_a7fd44e11cecf9e3b4fb16dff1bca0166"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a7fd44e11cecf9e3b4fb16dff1bca0166">maxPoseInterval</a> () const</td></tr>
<tr class="separator:a7fd44e11cecf9e3b4fb16dff1bca0166"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49a29f75350d008a54668837561a98bf" id="r_a49a29f75350d008a54668837561a98bf"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a49a29f75350d008a54668837561a98bf">velocityWindow</a> () const</td></tr>
<tr class="separator:a49a29f75350d008a54668837561a98bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53a73e2ebf60ff671828732594adc7c4" id="r_a53a73e2ebf60ff671828732594adc7c4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a> () const</td></tr>
<tr class="separator:a53a73e2ebf60ff671828732594adc7c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3359e2caff4d42fbcd4137b39aa2ae04" id="r_a3359e2caff4d42fbcd4137b39aa2ae04"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a> (double stamp, const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;imu)</td></tr>
<tr class="memdesc:a3359e2caff4d42fbcd4137b39aa2ae04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> measurement. <br /></td></tr>
<tr class="separator:a3359e2caff4d42fbcd4137b39aa2ae04"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb4349e5902040e5440f425e0bc39c47" id="r_abb4349e5902040e5440f425e0bc39c47"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a> (double stamp, const <a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp;pose)</td></tr>
<tr class="memdesc:abb4349e5902040e5440f425e0bc39c47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an odometry pose, from which the next poses are predicted. <br /></td></tr>
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<tr class="memitem:a2b8b4cd814ae31ef46899f41992bb1a4" id="r_a2b8b4cd814ae31ef46899f41992bb1a4"><td class="memItemLeft" align="right" valign="top"><a id="a2b8b4cd814ae31ef46899f41992bb1a4" name="a2b8b4cd814ae31ef46899f41992bb1a4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>reset</b> ()</td></tr>
<tr class="memdesc:a2b8b4cd814ae31ef46899f41992bb1a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Forgets the poses and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples. <br /></td></tr>
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<tr class="memitem:ac9bd37d201be18aaecfbfdbdbaec6ff0" id="r_ac9bd37d201be18aaecfbfdbdbaec6ff0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a> (double stamp) const</td></tr>
<tr class="memdesc:ac9bd37d201be18aaecfbfdbdbaec6ff0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predicts the pose of the base frame in the odometry frame. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>hasPose</b> () const</td></tr>
<tr class="memdesc:a2c30a766cc8f251b78ed490cb2a275eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether there is a pose to predict from (none yet, or the last one was null). <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>lastPoseStamp</b> () const</td></tr>
<tr class="memdesc:a4ddd3b124501b8446869a38b1ab1ff95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stamp of the last pose added, 0 if there is none. <br /></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>velocity</b> () const</td></tr>
<tr class="memdesc:a18e326faaa67a3602eaf3b4df7a906ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Velocity (m/s) of the base in the odometry frame at the last pose. <br /></td></tr>
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size_t&#160;</td><td class="memItemRight" valign="bottom"><b>samples</b> () const</td></tr>
<tr class="memdesc:a39dc460db30550b24646b312b3329245"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples kept. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Predicts the pose of the base frame from the last odometry pose and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>. </p>
<p>Between two odometry updates, the pose is propagated with the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>: the orientation is the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>'s own, re-expressed in the odometry frame, and the position is integrated from the velocity at the last odometry update and the gravity-compensated acceleration. That velocity is re-estimated at every odometry update, from the displacement since an odometry pose a short window back (see velocityWindow) corrected by the acceleration measured in between, so the position never drifts for long: only the motion since the last update is predicted.</p>
<p>This is what lidar deskewing needs: the pose at every point's time, during a sweep that started after the last pose odometry estimated.</p>
<p>The <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples are given as they are measured (see <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04" title="Adds an IMU measurement.">addImu()</a>): the orientation of the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> in its world frame and its specific force, from which gravity is removed here. That world frame must be gravity aligned with +z up, as in ROS (REP-103, e.g. ENU); its yaw doesn't matter. An orientation given in a frame with z down (NED) must be converted first, otherwise gravity is added instead of removed. The lever arm between the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> and the base origin is ignored: its centripetal and tangential accelerations are small over the fraction of a second this predicts.</p>
<p>Not thread-safe: a caller sharing it between threads must lock around every call. </p>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00065">65</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a765b9d6ae74d6fdcfbcc55e9d28b3feb">&#9670;&#160;</a></span>ImuMotionPredictor()</h2>
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<td class="memname">rtabmap::ImuMotionPredictor::ImuMotionPredictor </td>
<td>(</td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>maxPoseInterval</em> = <code>1.0</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>velocityWindow</em> = <code>0.5</code>, </td>
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<td class="paramtype">double&#160;</td>
<td class="paramname"><em>gravity</em> = <code>9.80665</code>&#160;</td>
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<p>Without acceleration in the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples, the position follows the last velocity (constant velocity model).</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">maxPoseInterval</td><td>odometry poses older (s) than this are not used to estimate the velocity, which is null without one </td></tr>
<tr><td class="paramname">velocityWindow</td><td>the velocity is estimated from the displacement since the newest pose at least this old (s). Over a single frame interval, the noise of the odometry poses would be of the order of the velocity itself; with the acceleration, a longer window still gives the velocity at the last pose, not an average. </td></tr>
<tr><td class="paramname">gravity</td><td>magnitude (m/s^2) of the gravity removed from the specific force given to <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04" title="Adds an IMU measurement.">addImu()</a>, standard gravity by default</td></tr>
</table>
</dd>
</dl>
<p>These are fixed for the life of the predictor (there is no setter): changing them while it estimates would mix poses and samples taken under different settings. </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a7fd44e11cecf9e3b4fb16dff1bca0166">&#9670;&#160;</a></span>maxPoseInterval()</h2>
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<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00090">90</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a49a29f75350d008a54668837561a98bf">&#9670;&#160;</a></span>velocityWindow()</h2>
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<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00091">91</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a53a73e2ebf60ff671828732594adc7c4">&#9670;&#160;</a></span>gravity()</h2>
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<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00092">92</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3359e2caff4d42fbcd4137b39aa2ae04">&#9670;&#160;</a></span>addImu()</h2>
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<td class="memname">void rtabmap::ImuMotionPredictor::addImu </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;&#160;</td>
<td class="paramname"><em>imu</em>&#160;</td>
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<p>Adds an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> measurement. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">stamp</td><td>time of the measurement (s) </td></tr>
<tr><td class="paramname">imu</td><td>orientation of the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> in its world frame (gravity aligned, +z up), linear acceleration as measured (the specific force, which includes the reaction to gravity) and the transform from the base frame to the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>. Without orientation, the measurement is ignored; without linear acceleration (all zeros, or a covariance of -1), only its orientation is used. </td></tr>
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<a id="abb4349e5902040e5440f425e0bc39c47" name="abb4349e5902040e5440f425e0bc39c47"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abb4349e5902040e5440f425e0bc39c47">&#9670;&#160;</a></span>addPose()</h2>
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<td class="memname">void rtabmap::ImuMotionPredictor::addPose </td>
<td>(</td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>stamp</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp;&#160;</td>
<td class="paramname"><em>pose</em>&#160;</td>
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<td>)</td>
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<p>Adds an odometry pose, from which the next poses are predicted. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">stamp</td><td>time of the pose (s) </td></tr>
<tr><td class="paramname">pose</td><td>pose of the base frame in the odometry frame; a null pose (odometry lost) resets the prediction until the next valid pose </td></tr>
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<a id="ac9bd37d201be18aaecfbfdbdbaec6ff0" name="ac9bd37d201be18aaecfbfdbdbaec6ff0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac9bd37d201be18aaecfbfdbdbaec6ff0">&#9670;&#160;</a></span>predict()</h2>
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<td class="memname"><a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> rtabmap::ImuMotionPredictor::predict </td>
<td>(</td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>stamp</em></td><td>)</td>
<td> const</td>
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<p>Predicts the pose of the base frame in the odometry frame. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">stamp</td><td>time (s) of the prediction, normally after the last pose </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>the predicted pose, null if there is no <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> sample yet. Without a pose (none yet, or the last one was null), the orientation alone is predicted, in the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>'s world frame and at the origin: still the relative rotation between two stamps, which is what deskewing needs most. </dd></dl>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a></li>
</ul>
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