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<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> </ul>
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<div class="contents">
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef IMU_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define IMU_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <rtabmap/utilite/UEvent.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="foldopen" id="foldopen00056" data-start="{" data-end="};">
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html"> 56</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a></div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483"> 60</a></span> <a class="code hl_function" href="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483">IMU</a>() {}</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
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<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a8db1233b6871dcbd58f1862cee2826fa"> 72</a></span> <a class="code hl_function" href="classrtabmap_1_1IMU.html#a8db1233b6871dcbd58f1862cee2826fa">IMU</a>(<span class="keyword">const</span> cv::Vec4d & orientation, <span class="comment">// qx qy qz qw</span></div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">const</span> cv::Mat & orientationCovariance,</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">const</span> cv::Vec3d & angularVelocity,</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">const</span> cv::Mat & angularVelocityCovariance,</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> cv::Vec3d & linearAcceleration,</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> cv::Mat & linearAccelerationCovariance,</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = Transform::getIdentity()) :</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> orientation_(orientation),</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> orientationCovariance_(orientationCovariance),</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> angularVelocity_(angularVelocity),</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> angularVelocityCovariance_(angularVelocityCovariance),</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> linearAcceleration_(linearAcceleration),</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> linearAccelerationCovariance_(linearAccelerationCovariance),</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> localTransform_(localTransform)</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> {</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> }</div>
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</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="foldopen" id="foldopen00097" data-start="{" data-end="}">
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6"> 97</a></span> <a class="code hl_function" href="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6">IMU</a>(<span class="keyword">const</span> cv::Vec3d & angularVelocity,</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> cv::Mat & angularVelocityCovariance,</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> cv::Vec3d & linearAcceleration,</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">const</span> cv::Mat & linearAccelerationCovariance,</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = Transform::getIdentity()) :</div>
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<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> angularVelocity_(angularVelocity),</div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> angularVelocityCovariance_(angularVelocityCovariance),</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> linearAcceleration_(linearAcceleration),</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> linearAccelerationCovariance_(linearAccelerationCovariance),</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> localTransform_(localTransform)</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> {</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> }</div>
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</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd"> 111</a></span> <span class="keyword">const</span> cv::Vec4d & <a class="code hl_function" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">orientation</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> orientation_;}</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429"> 113</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">orientationCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> orientationCovariance_;}</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb"> 116</a></span> <span class="keyword">const</span> cv::Vec3d & <a class="code hl_function" href="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb">angularVelocity</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> angularVelocity_;}</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a"> 118</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a">angularVelocityCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> angularVelocityCovariance_;}</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a"> 121</a></span> <span class="keyword">const</span> cv::Vec3d & <a class="code hl_function" href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">linearAcceleration</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> linearAcceleration_;}</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243"> 123</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">linearAccelerationCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> linearAccelerationCovariance_;}</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33"> 126</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">localTransform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localTransform_;}</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8"> 136</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8">convertToBaseFrame</a>();</div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
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<div class="foldopen" id="foldopen00141" data-start="{" data-end="}">
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef"> 141</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef">empty</a>()<span class="keyword"> const</span></div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span><span class="keyword"> </span>{</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordflow">return</span> localTransform_.isNull();</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> }</div>
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</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> cv::Vec4d orientation_;</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> cv::Mat orientationCovariance_;</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> cv::Vec3d angularVelocity_;</div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> cv::Mat angularVelocityCovariance_;</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> cv::Vec3d linearAcceleration_;</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> cv::Mat linearAccelerationCovariance_;</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> localTransform_;</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span>};</div>
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</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
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<div class="foldopen" id="foldopen00163" data-start="{" data-end="};">
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUEvent.html"> 163</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1IMUEvent.html">IMUEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span>{</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00167" data-start="{" data-end="}">
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b"> 167</a></span> <a class="code hl_function" href="classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b">IMUEvent</a>() :</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> stamp_(0.0)</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> {}</div>
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</div>
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<div class="foldopen" id="foldopen00175" data-start="{" data-end="}">
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800"> 175</a></span> <a class="code hl_function" href="classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800">IMUEvent</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> & data, <span class="keywordtype">double</span> stamp) :</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> data_(data),</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> stamp_(stamp)</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> {</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> }</div>
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</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUEvent.html#adf3482d48ccbf36daa039efb596405d0"> 181</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1IMUEvent.html#adf3482d48ccbf36daa039efb596405d0">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">"IMUEvent"</span>;}</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUEvent.html#a3ebdf9e3cb56c153bf76d4aad5a6b44e"> 183</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> & <a class="code hl_function" href="classrtabmap_1_1IMUEvent.html#a3ebdf9e3cb56c153bf76d4aad5a6b44e">getData</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data_;}</div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUEvent.html#ac1dc5e7e806fbe05ee5fec562384924f"> 185</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1IMUEvent.html#ac1dc5e7e806fbe05ee5fec562384924f">getStamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> stamp_;}</div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
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<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> data_;</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">double</span> stamp_;</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>};</div>
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</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span>}</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span><span class="preprocessor">#endif </span><span class="comment">/* IMU_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassUEvent_html"><div class="ttname"><a href="classUEvent.html">UEvent</a></div><div class="ttdef"><b>Definition</b> <a href="UEvent_8h_source.html#l00057">UEvent.h:57</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMUEvent_html"><div class="ttname"><a href="classrtabmap_1_1IMUEvent.html">rtabmap::IMUEvent</a></div><div class="ttdoc">UEvent carrying an IMU sample and timestamp.</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00163">IMU.h:164</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMUEvent_html_a1ab86d7c16b1cadb44f0440808a9a81b"><div class="ttname"><a href="classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b">rtabmap::IMUEvent::IMUEvent</a></div><div class="ttdeci">IMUEvent()</div><div class="ttdoc">Default-constructs an event with zero stamp.</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00167">IMU.h:167</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMUEvent_html_a3ebdf9e3cb56c153bf76d4aad5a6b44e"><div class="ttname"><a href="classrtabmap_1_1IMUEvent.html#a3ebdf9e3cb56c153bf76d4aad5a6b44e">rtabmap::IMUEvent::getData</a></div><div class="ttdeci">const IMU & getData() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00183">IMU.h:183</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMUEvent_html_ac1dc5e7e806fbe05ee5fec562384924f"><div class="ttname"><a href="classrtabmap_1_1IMUEvent.html#ac1dc5e7e806fbe05ee5fec562384924f">rtabmap::IMUEvent::getStamp</a></div><div class="ttdeci">double getStamp() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00185">IMU.h:185</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMUEvent_html_adf3482d48ccbf36daa039efb596405d0"><div class="ttname"><a href="classrtabmap_1_1IMUEvent.html#adf3482d48ccbf36daa039efb596405d0">rtabmap::IMUEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00181">IMU.h:181</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMUEvent_html_af041b297fa5f621dbc4fd085b16da800"><div class="ttname"><a href="classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800">rtabmap::IMUEvent::IMUEvent</a></div><div class="ttdeci">IMUEvent(const IMU &data, double stamp)</div><div class="ttdoc">Constructs an event with IMU data and stamp.</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00175">IMU.h:175</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a10cfadbe31bbf80822a9ab92c0892b33"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33">rtabmap::IMU::localTransform</a></div><div class="ttdeci">const Transform & localTransform() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00126">IMU.h:126</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a1ccae83f46e87d28e56bcfc4a25fafb8"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8">rtabmap::IMU::convertToBaseFrame</a></div><div class="ttdeci">void convertToBaseFrame()</div><div class="ttdoc">Rotate motion (and optionally orientation) into the base frame.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a2160e6d59e4f9e3ffc84a2b7d62bdabd"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">rtabmap::IMU::orientation</a></div><div class="ttdeci">const cv::Vec4d & orientation() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00111">IMU.h:111</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a2ee035bffb85f1681ad3525c32ba1243"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243">rtabmap::IMU::linearAccelerationCovariance</a></div><div class="ttdeci">const cv::Mat & linearAccelerationCovariance() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00123">IMU.h:123</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a3171afc29cdf8587a401b6da1b1908e6"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6">rtabmap::IMU::IMU</a></div><div class="ttdeci">IMU(const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())</div><div class="ttdoc">Constructs a sample without orientation (e.g. no magnetometer / no attitude).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00097">IMU.h:97</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a660c82c641525ff24aefa7e03ebf7d4a"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a">rtabmap::IMU::angularVelocityCovariance</a></div><div class="ttdeci">const cv::Mat & angularVelocityCovariance() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00118">IMU.h:118</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a76e674d3ef1865369e1416ae5ff76483"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483">rtabmap::IMU::IMU</a></div><div class="ttdeci">IMU()</div><div class="ttdoc">Default-constructs an empty sample (null localTransform()).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00060">IMU.h:60</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a8db1233b6871dcbd58f1862cee2826fa"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a8db1233b6871dcbd58f1862cee2826fa">rtabmap::IMU::IMU</a></div><div class="ttdeci">IMU(const cv::Vec4d &orientation, const cv::Mat &orientationCovariance, const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())</div><div class="ttdoc">Constructs a sample with orientation and motion data.</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00072">IMU.h:72</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_a8fde3445664329d6432b632fca9db17a"><div class="ttname"><a href="classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a">rtabmap::IMU::linearAcceleration</a></div><div class="ttdeci">const cv::Vec3d & linearAcceleration() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00121">IMU.h:121</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_ab7668040b92bfa5532c5e1c19ddbf429"><div class="ttname"><a href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">rtabmap::IMU::orientationCovariance</a></div><div class="ttdeci">const cv::Mat & orientationCovariance() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00113">IMU.h:113</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_ace111e68ca49e6d47cc92f53a0be87ef"><div class="ttname"><a href="classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef">rtabmap::IMU::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdoc">True when localTransform() is null (placeholder / unset sample).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00141">IMU.h:141</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html_ad0160a803d2005f3f4db27c402e6bceb"><div class="ttname"><a href="classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb">rtabmap::IMU::angularVelocity</a></div><div class="ttdeci">const cv::Vec3d & angularVelocity() const</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00116">IMU.h:116</a></div></div>
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<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>
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<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#l00039">BayesFilter.h:39</a></div></div>
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