mrpt::slam::CObservationIMU Class Reference

This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements). More...

Inheritance diagram for mrpt::slam::CObservationIMU:

Collaboration diagram for mrpt::slam::CObservationIMU:

Public Member Functions
	CObservationIMU ()
	Constructor.
virtual	~CObservationIMU ()
	Destructor.
float	likelihoodWith (const CObservation anotherObs, const CPosePDF anotherObsPose=NULL) const
	Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
Public Attributes
CPose3D	sensorPose
	The pose of the sensor on the robot.
vector_bool	dataIsPresent
	Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).
std::vector< double >	rawMeasurements
	The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.

Detailed Description

This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements).

The order of the 15 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the "enum" symbolic names):

0	IMU_X_ACC	x-axis acceleration (m/sec²)
1	IMU_Y_ACC	y-axis acceleration (m/sec²)
2	IMU_Z_ACC	z-axis acceleration (m/sec²)
3	IMU_YAW_VEL	yaw angular velocity (rad/sec)
4	IMU_PITCH_VEL	pitch angular velocity (rad/sec)
5	IMU_ROLL_VEL	roll angular velocity (rad/sec)
6	IMU_X_VEL	x-axis velocity (m/sec)
7	IMU_Y_VEL	y-axis velocity (m/sec)
8	IMU_Z_VEL	z-axis velocity (m/sec)
9	IMU_YAW	yaw absolute value (rad)
10	IMU_PITCH	pitch absolute value (rad)
11	IMU_ROLL	roll absolute value (rad)
12	IMU_X	x absolute value (meters)
13	IMU_Y	y absolute value (meters)
14	IMU_Z	z absolute value (meters)

The first 6 values are directly measured by accelerometers & gyroscopes. The rest, if present, are estimates from the IMU unit.

Definition at line 90 of file CObservationIMU.h.

mrpt::slam::CObservationIMU::CObservationIMU ( ) [inline]

Constructor.

Definition at line 98 of file CObservationIMU.h.

virtual mrpt::slam::CObservationIMU::~CObservationIMU ( ) [inline, virtual]

Destructor.

Definition at line 106 of file CObservationIMU.h.

void mrpt::slam::CObservationIMU::getSensorPose ( CPose3D & out_sensorPose ) const [inline, virtual]

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

Definition at line 140 of file CObservationIMU.h.

float mrpt::slam::CObservationIMU::likelihoodWith	(	const CObservation *	anotherObs,
		const CPosePDF *	anotherObsPose = `NULL`
	)			const `[virtual]`

Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters:

	anotherObs	The other observation to compute likelihood with.
	anotherObsPose	If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.