An Inertial Measurement Unit (IMU) sensor class. More...

#include <IMU.h>

Inheritance diagram for isae::IMU:

Collaboration diagram for isae::IMU:

Public Member Functions
	IMU (Eigen::Vector3d acc, Eigen::Vector3d gyr)

	IMU (std::shared_ptr< imu_config > config, Eigen::Vector3d acc, Eigen::Vector3d gyr)

	~IMU ()

Eigen::Vector3d	getAcc ()

Eigen::Vector3d	getGyr ()

void	setBa (Eigen::Vector3d ba)

void	setBg (Eigen::Vector3d bg)

void	setDeltaP (const Eigen::Vector3d delta_p)

void	setDeltaV (const Eigen::Vector3d delta_v)

void	setDeltaR (const Eigen::Matrix3d delta_R)

void	setVelocity (const Eigen::Vector3d v)

Eigen::Vector3d	getBa ()

Eigen::Vector3d	getBg ()

Eigen::Vector3d	getDeltaP () const

Eigen::Vector3d	getDeltaV () const

Eigen::Matrix3d	getDeltaR () const

Eigen::Vector3d	getVelocity () const

Eigen::MatrixXd	getCov () const

double	getGyrNoise () const

double	getAccNoise () const

double	getbGyrNoise () const

double	getbAccNoise () const

void	setLastKF (std::shared_ptr< Frame > frame)

std::shared_ptr< Frame >	getLastKF ()

void	setLastIMU (std::shared_ptr< IMU > imu)

std::shared_ptr< IMU >	getLastIMU ()

bool	processIMU ()
	Process IMU data to compute pre integration deltas and covariances. More...

void	estimateTransformIMU (Eigen::Affine3d &dT)
	Estimate the transformation between the Last KF and the current frame with pre integration deltas. More...

void	biasDeltaCorrection (Eigen::Vector3d d_ba, Eigen::Vector3d d_bg)
	Update deltas with biases variations. More...

void	updateBiases ()
	Update biases w.r.t the previous KF (e.g. after optimization) More...

Public Member Functions inherited from isae::ASensor
	ASensor (std::string type)

	~ASensor ()

std::string	getType ()

void	setFrame (std::shared_ptr< Frame > frame)

std::shared_ptr< Frame >	getFrame ()

void	setFrame2SensorTransform (Eigen::Affine3d T_s_f)

Eigen::Affine3d	getFrame2SensorTransform ()

Eigen::Affine3d	getWorld2SensorTransform ()

Eigen::Affine3d	getSensor2WorldTransform ()

Public Attributes
Eigen::Matrix3d	_J_dR_bg
	Jacobian of the delta rotation w.r.t the gyro bias. More...

Eigen::Matrix3d	_J_dv_ba
	Jacobian of the delta velocity w.r.t the accel bias. More...

Eigen::Matrix3d	_J_dv_bg
	Jacobian of the delta velocity w.r.t the gyro bias. More...

Eigen::Matrix3d	_J_dp_ba
	Jacobian of the delta position w.r.t the accel bias. More...

Eigen::Matrix3d	_J_dp_bg
	Jacobian of the delta position w.r.t the gyro bias. More...

unsigned long long	_timestamp_imu
	Timestamp stored to avoid dependency on the frame. More...

Eigen::Affine3d	_T_w_f_imu
	Transform from the world to the frame to avoid dependency on the frame. More...

Additional Inherited Members
Protected Attributes inherited from isae::ASensor
std::weak_ptr< Frame >	_frame

Eigen::Affine3d	_T_s_f

std::string	_type

std::mutex	_sensor_mtx

Detailed Description

An Inertial Measurement Unit (IMU) sensor class.

This class represents an IMU sensor that provides acceleration and gyroscope measurements. It handles the preintegration of IMU data for use in SLAM systems.

Constructor & Destructor Documentation

◆ IMU() [1/2]

isae::IMU::IMU	(	Eigen::Vector3d	acc,
		Eigen::Vector3d	gyr
	)

inline

◆ IMU() [2/2]

isae::IMU::IMU	(	std::shared_ptr< imu_config >	config,
		Eigen::Vector3d	acc,
		Eigen::Vector3d	gyr
	)

inline

◆ ~IMU()

isae::IMU::~IMU ( )

inline

Member Function Documentation

◆ biasDeltaCorrection()

void isae::IMU::biasDeltaCorrection	(	Eigen::Vector3d	d_ba,
		Eigen::Vector3d	d_bg
	)

Update deltas with biases variations.

◆ estimateTransformIMU()

void isae::IMU::estimateTransformIMU ( Eigen::Affine3d & dT )

Estimate the transformation between the Last KF and the current frame with pre integration deltas.

◆ getAcc()

Eigen::Vector3d isae::IMU::getAcc ( )

inline

◆ getAccNoise()

double isae::IMU::getAccNoise ( ) const

inline

◆ getBa()

Eigen::Vector3d isae::IMU::getBa ( )

inline

◆ getbAccNoise()

double isae::IMU::getbAccNoise ( ) const

inline

◆ getBg()

Eigen::Vector3d isae::IMU::getBg ( )

inline

◆ getbGyrNoise()

double isae::IMU::getbGyrNoise ( ) const

inline

◆ getCov()

Eigen::MatrixXd isae::IMU::getCov ( ) const

inline

◆ getDeltaP()

Eigen::Vector3d isae::IMU::getDeltaP ( ) const

inline

◆ getDeltaR()

Eigen::Matrix3d isae::IMU::getDeltaR ( ) const

inline

◆ getDeltaV()

Eigen::Vector3d isae::IMU::getDeltaV ( ) const

inline

◆ getGyr()

Eigen::Vector3d isae::IMU::getGyr ( )

inline

◆ getGyrNoise()

double isae::IMU::getGyrNoise ( ) const

inline

◆ getLastIMU()

std::shared_ptr<IMU> isae::IMU::getLastIMU ( )

inline

◆ getLastKF()

std::shared_ptr<Frame> isae::IMU::getLastKF ( )

inline

◆ getVelocity()

Eigen::Vector3d isae::IMU::getVelocity ( ) const

inline

◆ processIMU()

bool isae::IMU::processIMU ( )

Process IMU data to compute pre integration deltas and covariances.

This function processes the IMU data to compute the deltas in position, velocity, and orientation on SO(3) It is based on "On-Manifold Preintegration for Real-Time Visual-Inertial Odometry" by Forster et al. Source: https://arxiv.org/abs/1512.02363

◆ setBa()

void isae::IMU::setBa ( Eigen::Vector3d ba )

inline

◆ setBg()

void isae::IMU::setBg ( Eigen::Vector3d bg )

inline

◆ setDeltaP()

void isae::IMU::setDeltaP ( const Eigen::Vector3d delta_p )

inline

◆ setDeltaR()

void isae::IMU::setDeltaR ( const Eigen::Matrix3d delta_R )

inline

◆ setDeltaV()

void isae::IMU::setDeltaV ( const Eigen::Vector3d delta_v )

inline

◆ setLastIMU()

void isae::IMU::setLastIMU ( std::shared_ptr< IMU > imu )

inline

◆ setLastKF()

void isae::IMU::setLastKF ( std::shared_ptr< Frame > frame )

inline

◆ setVelocity()

void isae::IMU::setVelocity ( const Eigen::Vector3d v )

inline

◆ updateBiases()

void isae::IMU::updateBiases ( )

Update biases w.r.t the previous KF (e.g. after optimization)

Member Data Documentation

◆ _J_dp_ba

Eigen::Matrix3d isae::IMU::_J_dp_ba

Jacobian of the delta position w.r.t the accel bias.

◆ _J_dp_bg

Eigen::Matrix3d isae::IMU::_J_dp_bg

Jacobian of the delta position w.r.t the gyro bias.

◆ _J_dR_bg

Eigen::Matrix3d isae::IMU::_J_dR_bg

Jacobian of the delta rotation w.r.t the gyro bias.

◆ _J_dv_ba

Eigen::Matrix3d isae::IMU::_J_dv_ba

Jacobian of the delta velocity w.r.t the accel bias.

◆ _J_dv_bg

Eigen::Matrix3d isae::IMU::_J_dv_bg

Jacobian of the delta velocity w.r.t the gyro bias.

◆ _T_w_f_imu

Eigen::Affine3d isae::IMU::_T_w_f_imu

Transform from the world to the frame to avoid dependency on the frame.

◆ _timestamp_imu

unsigned long long isae::IMU::_timestamp_imu

Timestamp stored to avoid dependency on the frame.

The documentation for this class was generated from the following files:

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/sensors/IMU.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/sensors/IMU.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IMU() [1/2]

◆ IMU() [2/2]

◆ ~IMU()

Member Function Documentation

◆ biasDeltaCorrection()

◆ estimateTransformIMU()

◆ getAcc()

◆ getAccNoise()

◆ getBa()

◆ getbAccNoise()

◆ getBg()

◆ getbGyrNoise()

◆ getCov()

◆ getDeltaP()

◆ getDeltaR()

◆ getDeltaV()

◆ getGyr()

◆ getGyrNoise()

◆ getLastIMU()

◆ getLastKF()

◆ getVelocity()

◆ processIMU()

◆ setBa()

◆ setBg()

◆ setDeltaP()

◆ setDeltaR()

◆ setDeltaV()

◆ setLastIMU()

◆ setLastKF()

◆ setVelocity()

◆ updateBiases()

Member Data Documentation

◆ _J_dp_ba

◆ _J_dp_bg

◆ _J_dR_bg

◆ _J_dv_ba

◆ _J_dv_bg

◆ _T_w_f_imu

◆ _timestamp_imu