ov_core::IMU class

Derived Type class that implements an IMU state.

Reference

Contains a PoseJPL, Vec velocity, Vec gyro bias, and Vec accel bias. This should be similar to that of the standard MSCKF state besides the ordering. The pose is first, followed by velocity, etc.

Base classes

class Type: Base class for estimated variables.

Public functions

void set_local_id(int new_id) override: Sets id used to track location of variable in the filter covariance.
void update(const Eigen::VectorXd dx) override: Performs update operation using JPLQuat update for orientation, then vector updates for position, velocity, gyro bias, and accel bias (in that order).
void set_value(const Eigen::MatrixXd new_value) override: Sets the value of the estimate.
void set_fej(const Eigen::MatrixXd new_value) override: Sets the value of the first estimate.
auto clone() -> Type* override: Create a clone of this variable.
auto check_if_same_variable(const Type* check) -> Type* override: Used to find the components inside the IMU if needed. If the passed variable is a sub-variable or the current variable this will return it. Otherwise it will return a nullptr, meaning that it was unable to be found.
auto Rot() const -> Eigen::Matrix<double, 3, 3>: Rotation access.
auto Rot_fej() const -> Eigen::Matrix<double, 3, 3>: FEJ Rotation access.
auto quat() const -> Eigen::Matrix<double, 4, 1>: Rotation access quaternion.
auto quat_fej() const -> Eigen::Matrix<double, 4, 1>: FEJ Rotation access quaternion.
auto pos() const -> Eigen::Matrix<double, 3, 1>: Position access.
auto pos_fej() const -> Eigen::Matrix<double, 3, 1>: FEJ position access.
auto vel() const -> Eigen::Matrix<double, 3, 1>: Velocity access.
auto bias_g() const -> Eigen::Matrix<double, 3, 1>: Gyro bias access.
auto bias_g_fej() const -> Eigen::Matrix<double, 3, 1>: FEJ gyro bias access.
auto bias_a() const -> Eigen::Matrix<double, 3, 1>: Accel bias access.
auto pose() -> PoseJPL*: Pose type access.
auto q() -> JPLQuat*: Quaternion type access.
auto p() -> Vec*: Position type access.
auto v() -> Vec*: Velocity type access.
auto bg() -> Vec*: Gyroscope bias access.
auto ba() -> Vec*: Acceleration bias access.

Protected variables

PoseJPL* _pose: Pose subvariable.
Vec* _v: Velocity subvariable.
Vec* _bg: Gyroscope bias subvariable.
Vec* _ba: Acceleration bias subvariable.

Function documentation

void ov_core::IMU::set_local_id(int new_id) override

Sets id used to track location of variable in the filter covariance.

Parameters
new_id	entry in filter covariance corresponding to this variable

Note that we update the sub-variables also.

void ov_core::IMU::update(const Eigen::VectorXd dx) override

Performs update operation using JPLQuat update for orientation, then vector updates for position, velocity, gyro bias, and accel bias (in that order).

Parameters
dx	15 DOF vector encoding update using the following order (q, p, v, bg, ba)

void ov_core::IMU::set_value(const Eigen::MatrixXd new_value) override

Sets the value of the estimate.

Parameters
new_value	New value we should set

void ov_core::IMU::set_fej(const Eigen::MatrixXd new_value) override

Sets the value of the first estimate.

Parameters
new_value	New value we should set

Type* ov_core::IMU::check_if_same_variable(const Type* check) override

Used to find the components inside the IMU if needed. If the passed variable is a sub-variable or the current variable this will return it. Otherwise it will return a nullptr, meaning that it was unable to be found.

Parameters
check	variable to find