class sophus::ImuModelΒΆ

#include <imu_model.h>

class ImuModel {
public:
    // construction

    ImuModel(
        GyroModelVariant const& gyro_model,
        AcceleroModelVariant const& accelero_model
        );

    // methods

    Eigen::Vector3d gyroMeasurement(Eigen::Vector3d const& world_velocity_imu);
    Eigen::Vector3d acceleroMeasurement(Eigen::Vector3d const& world_acceleration_imu);
    GyroModelVariant& gyroModel();
    GyroModelVariant const& gyroModel() const;
    AcceleroModelVariant& acceleroModel();
    AcceleroModelVariant const& acceleroModel() const;
    Eigen::VectorXd gyroParams() const;
    Eigen::VectorXd acceleroParams() const;
    GyroModelType gyroModelType() const;
    AcceleroModelType acceleroModelType() const;
};