Uncertainty on IMU measurements. More...

#include <ImuUncertainty.h>

Public Member Functions
void	configure (const Dictionary &config)
	Configure uncertainty from a dictionary. More...

void	apply (Eigen::Vector3d &linear_acceleration, Eigen::Vector3d &angular_velocity, std::mt19937 &rng) const
	Apply uncertainty to measurement vectors. More...

Public Attributes
Eigen::Vector3d	accelerometer_bias = Eigen::Vector3d::Zero()
	Bias added to accelerometer measurements in the IMU frame.

double	accelerometer_noise = 0.0
	Standard deviation of noise added to accelerations in the IMU frame.

Eigen::Vector3d	gyroscope_bias = Eigen::Vector3d::Zero()
	Bias added to gyroscope measurements, in the IMU frame.

double	gyroscope_noise = 0.0
	Standard deviation of noise added to angular velocities in the IMU frame.

Detailed Description

Uncertainty on IMU measurements.

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

Public Member Functions