apply()

void apply ( Eigen::Vector3d &  linear_acceleration, Eigen::Vector3d &  angular_velocity, std::mt19937 &  rng  ) const

inline

Apply uncertainty to measurement vectors.

Parameters

[in,out]	linear_acceleration	Linear acceleration measurement, in the IMU frame.
[in,out]	angular_velocity	Angular velocity measurement, in the IMU frame.
[in,out]	rng	Random number generator.