mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
595 lines
32 KiB
HTML
595 lines
32 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: rtabmap::IMU Class Reference</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>
|
||
</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('classrtabmap_1_1IMU.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="summary">
|
||
<a href="#pub-methods">Public Member Functions</a> |
|
||
<a href="classrtabmap_1_1IMU-members.html">List of all members</a> </div>
|
||
<div class="headertitle"><div class="title">rtabmap::IMU Class Reference</div></div>
|
||
</div><!--header-->
|
||
<div class="contents">
|
||
|
||
<p>Inertial measurement sample (ROS <code>sensor_msgs/Imu-like</code> fields).
|
||
<a href="classrtabmap_1_1IMU.html#details">More...</a></p>
|
||
|
||
<p><code>#include <<a class="el" href="IMU_8h_source.html">IMU.h</a>></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:a76e674d3ef1865369e1416ae5ff76483" id="r_a76e674d3ef1865369e1416ae5ff76483"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483">IMU</a> ()</td></tr>
|
||
<tr class="memdesc:a76e674d3ef1865369e1416ae5ff76483"><td class="mdescLeft"> </td><td class="mdescRight">Default-constructs an empty sample (null <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a>). <br /></td></tr>
|
||
<tr class="separator:a76e674d3ef1865369e1416ae5ff76483"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a8db1233b6871dcbd58f1862cee2826fa" id="r_a8db1233b6871dcbd58f1862cee2826fa"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a8db1233b6871dcbd58f1862cee2826fa">IMU</a> (const cv::Vec4d &<a class="el" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">orientation</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">orientationCovariance</a>, const cv::Vec3d &<a class="el" href="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb">angularVelocity</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a">angularVelocityCovariance</a>, const cv::Vec3d &<a class="el" href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">linearAcceleration</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">linearAccelerationCovariance</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &<a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform</a>=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
|
||
<tr class="memdesc:a8db1233b6871dcbd58f1862cee2826fa"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a sample with orientation and motion data. <br /></td></tr>
|
||
<tr class="separator:a8db1233b6871dcbd58f1862cee2826fa"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a3171afc29cdf8587a401b6da1b1908e6" id="r_a3171afc29cdf8587a401b6da1b1908e6"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6">IMU</a> (const cv::Vec3d &<a class="el" href="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb">angularVelocity</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a">angularVelocityCovariance</a>, const cv::Vec3d &<a class="el" href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">linearAcceleration</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">linearAccelerationCovariance</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &<a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform</a>=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
|
||
<tr class="memdesc:a3171afc29cdf8587a401b6da1b1908e6"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a sample without orientation (e.g. no magnetometer / no attitude). <br /></td></tr>
|
||
<tr class="separator:a3171afc29cdf8587a401b6da1b1908e6"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a2160e6d59e4f9e3ffc84a2b7d62bdabd" id="r_a2160e6d59e4f9e3ffc84a2b7d62bdabd"><td class="memItemLeft" align="right" valign="top">const cv::Vec4d & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">orientation</a> () const</td></tr>
|
||
<tr class="separator:a2160e6d59e4f9e3ffc84a2b7d62bdabd"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ab7668040b92bfa5532c5e1c19ddbf429" id="r_ab7668040b92bfa5532c5e1c19ddbf429"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">orientationCovariance</a> () const</td></tr>
|
||
<tr class="separator:ab7668040b92bfa5532c5e1c19ddbf429"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ad0160a803d2005f3f4db27c402e6bceb" id="r_ad0160a803d2005f3f4db27c402e6bceb"><td class="memItemLeft" align="right" valign="top">const cv::Vec3d & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb">angularVelocity</a> () const</td></tr>
|
||
<tr class="separator:ad0160a803d2005f3f4db27c402e6bceb"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a660c82c641525ff24aefa7e03ebf7d4a" id="r_a660c82c641525ff24aefa7e03ebf7d4a"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a">angularVelocityCovariance</a> () const</td></tr>
|
||
<tr class="separator:a660c82c641525ff24aefa7e03ebf7d4a"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a8fde3445664329d6432b632fca9db17a" id="r_a8fde3445664329d6432b632fca9db17a"><td class="memItemLeft" align="right" valign="top">const cv::Vec3d & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">linearAcceleration</a> () const</td></tr>
|
||
<tr class="separator:a8fde3445664329d6432b632fca9db17a"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a2ee035bffb85f1681ad3525c32ba1243" id="r_a2ee035bffb85f1681ad3525c32ba1243"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">linearAccelerationCovariance</a> () const</td></tr>
|
||
<tr class="separator:a2ee035bffb85f1681ad3525c32ba1243"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a10cfadbe31bbf80822a9ab92c0892b33" id="r_a10cfadbe31bbf80822a9ab92c0892b33"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform</a> () const</td></tr>
|
||
<tr class="separator:a10cfadbe31bbf80822a9ab92c0892b33"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a1ccae83f46e87d28e56bcfc4a25fafb8" id="r_a1ccae83f46e87d28e56bcfc4a25fafb8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8">convertToBaseFrame</a> ()</td></tr>
|
||
<tr class="memdesc:a1ccae83f46e87d28e56bcfc4a25fafb8"><td class="mdescLeft"> </td><td class="mdescRight">Rotate motion (and optionally orientation) into the base frame. <br /></td></tr>
|
||
<tr class="separator:a1ccae83f46e87d28e56bcfc4a25fafb8"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:ace111e68ca49e6d47cc92f53a0be87ef" id="r_ace111e68ca49e6d47cc92f53a0be87ef"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef">empty</a> () const</td></tr>
|
||
<tr class="memdesc:ace111e68ca49e6d47cc92f53a0be87ef"><td class="mdescLeft"> </td><td class="mdescRight">True when <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> is null (placeholder / unset sample). <br /></td></tr>
|
||
<tr class="separator:ace111e68ca49e6d47cc92f53a0be87ef"><td class="memSeparator" colspan="2"> </td></tr>
|
||
</table>
|
||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||
<div class="textblock"><p>Inertial measurement sample (ROS <code>sensor_msgs/Imu-like</code> fields). </p>
|
||
<p>Holds orientation (quaternion), angular velocity, linear acceleration, optional 3×3 row-major covariance matrices (double), and an optional <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> expressing the <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.</p>
|
||
<p><a class="el" href="classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef">empty()</a> is true when <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> is null (default constructor). A sample constructed with <a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity()</a> is not empty.</p>
|
||
<p><a class="el" href="classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8">convertToBaseFrame()</a> rotates linear/angular velocity (and orientation when quaternion x/y/z are non-zero) into the base frame, then clears rotation in <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> while keeping translation.</p>
|
||
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7" title="Returns IMU data.">SensorData::imu()</a> </dd>
|
||
<dd>
|
||
<a class="el" href="classrtabmap_1_1IMUEvent.html" title="UEvent carrying an IMU sample and timestamp.">IMUEvent</a> </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00056">56</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
|
||
<a id="a76e674d3ef1865369e1416ae5ff76483" name="a76e674d3ef1865369e1416ae5ff76483"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a76e674d3ef1865369e1416ae5ff76483">◆ </a></span>IMU() <span class="overload">[1/3]</span></h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">rtabmap::IMU::IMU </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Default-constructs an empty sample (null <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a>). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00060">60</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a8db1233b6871dcbd58f1862cee2826fa" name="a8db1233b6871dcbd58f1862cee2826fa"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a8db1233b6871dcbd58f1862cee2826fa">◆ </a></span>IMU() <span class="overload">[2/3]</span></h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">rtabmap::IMU::IMU </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const cv::Vec4d & </td>
|
||
<td class="paramname"><em>orientation</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>orientationCovariance</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Vec3d & </td>
|
||
<td class="paramname"><em>angularVelocity</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>angularVelocityCovariance</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Vec3d & </td>
|
||
<td class="paramname"><em>linearAcceleration</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>linearAccelerationCovariance</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
||
<td class="paramname"><em>localTransform</em> = <code><a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()</code> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Constructs a sample with orientation and motion data. </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">orientation</td><td>Unit quaternion (qx, qy, qz, qw). </td></tr>
|
||
<tr><td class="paramname">orientationCovariance</td><td>3×3 row-major covariance about x, y, z (empty if unused). </td></tr>
|
||
<tr><td class="paramname">angularVelocity</td><td>Rad/s about x, y, z. </td></tr>
|
||
<tr><td class="paramname">angularVelocityCovariance</td><td>3×3 row-major covariance (empty if unused). </td></tr>
|
||
<tr><td class="paramname">linearAcceleration</td><td>m/s² about x, y, z. </td></tr>
|
||
<tr><td class="paramname">linearAccelerationCovariance</td><td>3×3 row-major covariance (empty if unused). </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 in base coordinates (default identity). </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00072">72</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a3171afc29cdf8587a401b6da1b1908e6" name="a3171afc29cdf8587a401b6da1b1908e6"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a3171afc29cdf8587a401b6da1b1908e6">◆ </a></span>IMU() <span class="overload">[3/3]</span></h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">rtabmap::IMU::IMU </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const cv::Vec3d & </td>
|
||
<td class="paramname"><em>angularVelocity</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>angularVelocityCovariance</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Vec3d & </td>
|
||
<td class="paramname"><em>linearAcceleration</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>linearAccelerationCovariance</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
||
<td class="paramname"><em>localTransform</em> = <code><a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()</code> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Constructs a sample without orientation (e.g. no magnetometer / no attitude). </p>
|
||
<dl class="params"><dt>Parameters</dt><dd>
|
||
<table class="params">
|
||
<tr><td class="paramname">angularVelocity</td><td>Rad/s about x, y, z. </td></tr>
|
||
<tr><td class="paramname">angularVelocityCovariance</td><td>3×3 row-major covariance (empty if unused). </td></tr>
|
||
<tr><td class="paramname">linearAcceleration</td><td>m/s² about x, y, z. </td></tr>
|
||
<tr><td class="paramname">linearAccelerationCovariance</td><td>3×3 row-major covariance (empty if unused). </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 in base coordinates (default identity). </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00097">97</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<h2 class="groupheader">Member Function Documentation</h2>
|
||
<a id="a2160e6d59e4f9e3ffc84a2b7d62bdabd" name="a2160e6d59e4f9e3ffc84a2b7d62bdabd"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a2160e6d59e4f9e3ffc84a2b7d62bdabd">◆ </a></span>orientation()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Vec4d & rtabmap::IMU::orientation </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>Orientation quaternion (qx, qy, qz, qw). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00111">111</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ab7668040b92bfa5532c5e1c19ddbf429" name="ab7668040b92bfa5532c5e1c19ddbf429"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ab7668040b92bfa5532c5e1c19ddbf429">◆ </a></span>orientationCovariance()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Mat & rtabmap::IMU::orientationCovariance </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>3×3 orientation covariance (row-major, empty if orientation unset). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00113">113</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ad0160a803d2005f3f4db27c402e6bceb" name="ad0160a803d2005f3f4db27c402e6bceb"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ad0160a803d2005f3f4db27c402e6bceb">◆ </a></span>angularVelocity()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Vec3d & rtabmap::IMU::angularVelocity </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>Angular velocity (rad/s). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00116">116</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a660c82c641525ff24aefa7e03ebf7d4a" name="a660c82c641525ff24aefa7e03ebf7d4a"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a660c82c641525ff24aefa7e03ebf7d4a">◆ </a></span>angularVelocityCovariance()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Mat & rtabmap::IMU::angularVelocityCovariance </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>3×3 angular velocity covariance (row-major, empty if unused). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00118">118</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a8fde3445664329d6432b632fca9db17a" name="a8fde3445664329d6432b632fca9db17a"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a8fde3445664329d6432b632fca9db17a">◆ </a></span>linearAcceleration()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Vec3d & rtabmap::IMU::linearAcceleration </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>Linear acceleration (m/s²). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00121">121</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a2ee035bffb85f1681ad3525c32ba1243" name="a2ee035bffb85f1681ad3525c32ba1243"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a2ee035bffb85f1681ad3525c32ba1243">◆ </a></span>linearAccelerationCovariance()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Mat & rtabmap::IMU::linearAccelerationCovariance </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd>3×3 linear acceleration covariance (row-major, empty if unused). </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00123">123</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a10cfadbe31bbf80822a9ab92c0892b33" name="a10cfadbe31bbf80822a9ab92c0892b33"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a10cfadbe31bbf80822a9ab92c0892b33">◆ </a></span>localTransform()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & rtabmap::IMU::localTransform </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> from <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> frame to base frame. </dd></dl>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00126">126</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a1ccae83f46e87d28e56bcfc4a25fafb8" name="a1ccae83f46e87d28e56bcfc4a25fafb8"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a1ccae83f46e87d28e56bcfc4a25fafb8">◆ </a></span>convertToBaseFrame()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">void rtabmap::IMU::convertToBaseFrame </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>Rotate motion (and optionally orientation) into the base frame. </p>
|
||
<p>Applies <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> rotation to vectors and covariances, then sets rotational part of <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> to identity (translation unchanged). No-op if <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> is null or rotation is identity. Orientation is updated only when quaternion qx, qy, qz, qw are not all zero. </p>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ace111e68ca49e6d47cc92f53a0be87ef" name="ace111e68ca49e6d47cc92f53a0be87ef"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ace111e68ca49e6d47cc92f53a0be87ef">◆ </a></span>empty()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">bool rtabmap::IMU::empty </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<p>True when <a class="el" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform()</a> is null (placeholder / unset sample). </p>
|
||
|
||
<p class="definition">Definition at line <a class="el" href="IMU_8h_source.html#l00141">141</a> of file <a class="el" href="IMU_8h_source.html">IMU.h</a>.</p>
|
||
|
||
</div>
|
||
</div>
|
||
<hr/>The documentation for this class was generated from the following file:<ul>
|
||
<li>corelib/include/rtabmap/core/<a class="el" href="IMU_8h_source.html">IMU.h</a></li>
|
||
</ul>
|
||
</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="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1IMU.html">IMU</a></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>
|