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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classrtabmap_1_1IMUThread-members.html">List of all members</a> </div>
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<p>Background thread that replays <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> measurements from a CSV file.
<a href="classrtabmap_1_1IMUThread.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="IMUThread_8h_source.html">IMUThread.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::IMUThread:</div>
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Collaboration diagram for rtabmap::IMUThread:</div>
<div class="dyncontent">
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<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:a97a2c48c6bb7e29ae64147fc9f032ac3" id="r_a97a2c48c6bb7e29ae64147fc9f032ac3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3">IMUThread</a> (int rate, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform)</td></tr>
<tr class="memdesc:a97a2c48c6bb7e29ae64147fc9f032ac3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the replay thread. <br /></td></tr>
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<tr class="memitem:aeed84fd5d571a5e9af54c8c3ea16ef9d" id="r_aeed84fd5d571a5e9af54c8c3ea16ef9d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d">init</a> (const std::string &amp;path)</td></tr>
<tr class="memdesc:aeed84fd5d571a5e9af54c8c3ea16ef9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Opens and validates an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> CSV file. <br /></td></tr>
<tr class="separator:aeed84fd5d571a5e9af54c8c3ea16ef9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b646ffce1964e2ab6bc314dc4b27deb" id="r_a3b646ffce1964e2ab6bc314dc4b27deb"><td class="memItemLeft" align="right" valign="top"><a id="a3b646ffce1964e2ab6bc314dc4b27deb" name="a3b646ffce1964e2ab6bc314dc4b27deb"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setRate</b> (int rate)</td></tr>
<tr class="memdesc:a3b646ffce1964e2ab6bc314dc4b27deb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the target playback rate in Hz. <br /></td></tr>
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<tr class="memitem:ad7e54aa5d2c6a9354e38bda9f01c89ab" id="r_ad7e54aa5d2c6a9354e38bda9f01c89ab"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab">enableIMUFiltering</a> (int filteringStrategy=1, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), bool baseFrameConversion=false)</td></tr>
<tr class="memdesc:ad7e54aa5d2c6a9354e38bda9f01c89ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables orientation fusion on replayed samples. <br /></td></tr>
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<tr class="memitem:a7934573b7f4899278f1b048cf9a686bc" id="r_a7934573b7f4899278f1b048cf9a686bc"><td class="memItemLeft" align="right" valign="top"><a id="a7934573b7f4899278f1b048cf9a686bc" name="a7934573b7f4899278f1b048cf9a686bc"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>disableIMUFiltering</b> ()</td></tr>
<tr class="memdesc:a7934573b7f4899278f1b048cf9a686bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables fusion and deletes the internal <a class="el" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a>. <br /></td></tr>
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<tr class="inherit_header pub_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThread')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
<tr class="memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id="r_a05a92f95e2a8900f27b09ddf907b97be"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a05a92f95e2a8900f27b09ddf907b97be">UThread</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority=kPNormal)</td></tr>
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<tr class="memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id="r_a437580d224111e60cbe2626f0e4cb12e"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a437580d224111e60cbe2626f0e4cb12e">~UThread</a> ()</td></tr>
<tr class="separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id="r_a051e9adcf24f92b9c8e31acd06bad88c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c">start</a> ()</td></tr>
<tr class="separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id="r_a8dfefcfd68b453da08ddba9836f35965"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a8dfefcfd68b453da08ddba9836f35965">kill</a> ()</td></tr>
<tr class="separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id="r_acf33c0e4b656af76da100e7d4f69ed1d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d">join</a> (bool killFirst=false)</td></tr>
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<tr class="memitem:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" id="r_a80418be3a80a01ddd05a863b58787b43"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a80418be3a80a01ddd05a863b58787b43">setPriority</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority)</td></tr>
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<tr class="memitem:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" id="r_aabcf31acae6ca5b8503ec320acbc11f8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8">setAffinity</a> (int cpu=0)</td></tr>
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<tr class="memitem:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" id="r_ac80eff7d48382fd230141ca286370d33"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#ac80eff7d48382fd230141ca286370d33">isCreating</a> () const</td></tr>
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<tr class="memitem:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" id="r_a38e2b22f0616ed4128312baff9cfeba9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a38e2b22f0616ed4128312baff9cfeba9">isRunning</a> () const</td></tr>
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<tr class="memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id="r_a2c4554ad881c0532239a0930c2ebfe24"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">isIdle</a> () const</td></tr>
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<tr class="memitem:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" id="r_a3a0d0de0f78eab72512941ccd048477b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a3a0d0de0f78eab72512941ccd048477b">isKilled</a> () const</td></tr>
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<tr class="inherit_header pub_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC&lt; void &gt;</a></td></tr>
<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &amp;H=0, const bool &amp;CreateDetached=false, const unsigned int &amp;StackSize=0, const bool &amp;CancelEnable=false, const bool &amp;CancelAsync=false) const</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThread')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
<tr class="memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id="r_a731ef4dd5a8d15abcc06e7cfa53cd153"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> { <br />
&#160;&#160;<b>kPLow</b>
, <b>kPBelowNormal</b>
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&#160;&#160;<b>kPRealTime</b>
<br />
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<tr class="inherit_header pub_static_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThread')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
<tr class="memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id="r_a6fa5e2358a86c5185371fd14305021aa"><td class="memItemLeft" align="right" valign="top">static unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a6fa5e2358a86c5185371fd14305021aa">currentThreadId</a> ()</td></tr>
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<tr class="inherit_header pub_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC&lt; void &gt;</a></td></tr>
<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &amp;Function, Handle *const &amp;H=0, const bool &amp;CreateDetached=false, const unsigned int &amp;StackSize=0, const bool &amp;CancelEnable=false, const bool &amp;CancelAsync=false)</td></tr>
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<tr class="memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a4a83aaa66db8ee6f07482130091690e3"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3">Kill</a> (const Handle &amp;H)</td></tr>
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<tr class="memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a094155ec7163e19480ed2181ef8032ed"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed">Detach</a> (const Handle &amp;H)</td></tr>
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<tr class="inherit_header pro_methods_classUEventsSender"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEventsSender')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classUEventsSender.html">UEventsSender</a></td></tr>
<tr class="memitem:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" id="r_ab03886c42164f2f9bf89fd3da641526f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsSender.html#ab03886c42164f2f9bf89fd3da641526f">post</a> (<a class="el" href="classUEvent.html">UEvent</a> *event, bool async=true) const</td></tr>
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<tr class="inherit_header pro_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/>&#160;Static Protected Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC&lt; void &gt;</a></td></tr>
<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
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<tr class="memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a33cd70cb0291ebd0a95016e89b4d5b6c"><td class="memItemLeft" align="right" valign="top">static Handle&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c">Self</a> ()</td></tr>
<tr class="separator:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Background thread that replays <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> measurements from a CSV file. </p>
<p>Reads gyroscope and accelerometer samples from a comma-separated file (EuRoC-style or epoch timestamps), optionally fuses them with <a class="el" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a>, and posts <a class="el" href="classrtabmap_1_1IMUEvent.html">IMUEvent</a> on each step.</p>
<p>CSV format:</p><ul>
<li>First line: header (skipped).</li>
<li>Following lines: <code>stamp,gx,gy,gz,ax,ay,az</code> (stamp in seconds with a decimal point, or EuRoC nanoseconds without one).</li>
</ul>
<p>Playback rate is limited by <a class="el" href="classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb">setRate()</a> when <code>rate &gt; 0</code>; otherwise samples are read as fast as possible (or spaced using inter-sample timestamps after the first pair). When the file ends, the thread posts an empty <a class="el" href="classrtabmap_1_1IMUEvent.html">IMUEvent</a> and stops.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1IMUEvent.html" title="UEvent carrying an IMU sample and timestamp.">IMUEvent</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1IMUFilter.html" title="Fuses gyroscope and accelerometer samples into an orientation quaternion.">IMUFilter</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec" title="Enables IMU data filtering.">SensorCaptureThread::enableIMUFiltering()</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="IMUThread_8h_source.html#l00065">65</a> of file <a class="el" href="IMUThread_8h_source.html">IMUThread.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a97a2c48c6bb7e29ae64147fc9f032ac3" name="a97a2c48c6bb7e29ae64147fc9f032ac3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a97a2c48c6bb7e29ae64147fc9f032ac3">&#9670;&#160;</a></span>IMUThread()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">rtabmap::IMUThread::IMUThread </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>rate</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td>
<td class="paramname"><em>localTransform</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Constructs the replay thread. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">rate</td><td>Target playback rate in Hz (<code>0</code> = no rate cap until timestamps apply). </td></tr>
<tr><td class="paramname">localTransform</td><td><a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> frame relative to the robot base (stored in each <a class="el" href="classrtabmap_1_1IMU.html">IMU</a>). </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="aeed84fd5d571a5e9af54c8c3ea16ef9d" name="aeed84fd5d571a5e9af54c8c3ea16ef9d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeed84fd5d571a5e9af54c8c3ea16ef9d">&#9670;&#160;</a></span>init()</h2>
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<td class="memname">bool rtabmap::IMUThread::init </td>
<td>(</td>
<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>path</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Opens and validates an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> CSV file. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">path</td><td>Path to the CSV file. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>False if the file is missing or contains no data rows. </dd></dl>
</div>
</div>
<a id="ad7e54aa5d2c6a9354e38bda9f01c89ab" name="ad7e54aa5d2c6a9354e38bda9f01c89ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad7e54aa5d2c6a9354e38bda9f01c89ab">&#9670;&#160;</a></span>enableIMUFiltering()</h2>
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<td class="memname">void rtabmap::IMUThread::enableIMUFiltering </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>filteringStrategy</em> = <code>1</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>baseFrameConversion</em> = <code>false</code>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Enables orientation fusion on replayed samples. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">filteringStrategy</td><td><a class="el" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">IMUFilter::Type</a> index (<code>0</code> = Madgwick, <code>1</code> = complementary). </td></tr>
<tr><td class="paramname">parameters</td><td>Optional ImuFilter/... tuning parameters. </td></tr>
<tr><td class="paramname">baseFrameConversion</td><td>If true, rotate <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> vectors into the base frame before filtering. </td></tr>
</table>
</dd>
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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="IMUThread_8h_source.html">IMUThread.h</a></li>
</ul>
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