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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>
<p>The <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> acceleration is used only with a velocity window (&gt; 0): over a single frame, the velocity is too noisy to be carried forward with it. Without it (window of 0, or no 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>
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<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">velocityWindow</td><td>the velocity is estimated from the displacement since the newest pose at least this old (s), corrected by the acceleration measured since, so that it is the velocity at the last pose, not an average. Over a single frame interval, the noise of the odometry poses would be of the order of the velocity itself. 0: the displacement since the previous pose, without acceleration. </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>
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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>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00094">94</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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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>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00095">95</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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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>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00096">96</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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