Struct sym::PreintegratedImuMeasurements::Delta

struct Delta

A convenient struct that holds the Preintegrated delta.

Public Functions

imu_integrated_measurement_delta_t GetLcmType() const

std::pair<Pose3<Scalar>, Vector3> RollForwardState(const Pose3<Scalar> &pose_i, const Vector3 &vel_i, const Vector3 &gravity) const

Public Members

Scalar Dt = {0}

Rot3 DR = {Rot3::Identity()}

Vector3 Dv = {Vector3::Zero()}

Vector3 Dp = {Vector3::Zero()}

Public Static Functions

static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)