62 lines
2.0 KiB
C++
Executable File
62 lines
2.0 KiB
C++
Executable File
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_IMU_TRACKER_H_
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#define CARTOGRAPHER_MAPPING_IMU_TRACKER_H_
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#include "Eigen/Geometry"
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#include "cartographer/common/time.h"
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namespace cartographer {
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namespace mapping {
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// Keeps track of the orientation using angular velocities and linear
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// accelerations from an IMU. Because averaged linear acceleration (assuming
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// slow movement) is a direct measurement of gravity, roll/pitch does not drift,
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// though yaw does.
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class ImuTracker {
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public:
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ImuTracker(double imu_gravity_time_constant, common::Time time);
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// Advances to the given 'time' and updates the orientation to reflect this.
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void Advance(common::Time time);
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// Updates from an IMU reading (in the IMU frame).
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void AddImuLinearAccelerationObservation(
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const Eigen::Vector3d& imu_linear_acceleration);
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void AddImuAngularVelocityObservation(
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const Eigen::Vector3d& imu_angular_velocity);
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// Query the current time.
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common::Time time() const { return time_; }
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// Query the current orientation estimate.
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Eigen::Quaterniond orientation() const { return orientation_; }
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private:
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const double imu_gravity_time_constant_;
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common::Time time_;
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common::Time last_linear_acceleration_time_;
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Eigen::Quaterniond orientation_;
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Eigen::Vector3d gravity_vector_;
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Eigen::Vector3d imu_angular_velocity_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_IMU_TRACKER_H_
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