IMU parameters. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::kinematics::Transformation	T_BS
	Transformation from Body frame to IMU (sensor frame S). More...

double	a_max
	Accelerometer saturation. [m/s^2]. More...

double	g_max
	Gyroscope saturation. [rad/s]. More...

double	sigma_g_c
	Gyroscope noise density. More...

double	sigma_bg
	Initial gyroscope bias. More...

double	sigma_a_c
	Accelerometer noise density. More...

double	sigma_ba
	Initial accelerometer bias. More...

double	sigma_gw_c
	Gyroscope drift noise density. More...

double	sigma_aw_c
	Accelerometer drift noise density. More...

double	tau
	Reversion time constant of accerometer bias. [s]. More...

double	g
	Earth acceleration. More...

Eigen::Vector3d	a0
	Mean of the prior accelerometer bias. More...

int	rate
	IMU rate in Hz. More...

Detailed Description

IMU parameters.

A simple struct to specify properties of an IMU.

Member Data Documentation

Eigen::Vector3d okvis::ImuParameters::a0

Mean of the prior accelerometer bias.

double okvis::ImuParameters::a_max

Accelerometer saturation. [m/s^2].

double okvis::ImuParameters::g

Earth acceleration.

double okvis::ImuParameters::g_max

Gyroscope saturation. [rad/s].

int okvis::ImuParameters::rate

IMU rate in Hz.

double okvis::ImuParameters::sigma_a_c

Accelerometer noise density.

double okvis::ImuParameters::sigma_aw_c

Accelerometer drift noise density.

double okvis::ImuParameters::sigma_ba

Initial accelerometer bias.

double okvis::ImuParameters::sigma_bg

Initial gyroscope bias.

double okvis::ImuParameters::sigma_g_c

Gyroscope noise density.

double okvis::ImuParameters::sigma_gw_c

Gyroscope drift noise density.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::kinematics::Transformation okvis::ImuParameters::T_BS

Transformation from Body frame to IMU (sensor frame S).

double okvis::ImuParameters::tau

Reversion time constant of accerometer bias. [s].

The documentation for this struct was generated from the following file: