msceqf::StaticInitializer Class Reference

Public Types
using	ImuBuffer = std::deque<Imu>
	The Imu measurement buffer.

Public Member Functions
	StaticInitializer (const InitializerOptions &opts, const Checker &checker)
	StaticInitializer constructor.
void	insertImu (const Imu &imu)
	Populate imu internal buffer used for acceleration check.
bool	detectMotion (const Tracks &tracks)
	This function detects if the platform is moving based on acceleration measurements and image disparity.
bool	initializeOrigin ()
	This fnctions collects a predefined window of IMU measurments and compute the roll and pitch fo the platform togheter with the IMU bias without waiting for motion.
const SE23 &	T0 () const
	This function returns the initial Extended pose of the platform, to be used as origin.
const Vector6 &	b0 () const
	This function returns the initial IMU bias, to be used as origin.

Constructor & Destructor Documentation

StaticInitializer()

msceqf::StaticInitializer::StaticInitializer	(	const InitializerOptions &	opts,
		const Checker &	checker )

StaticInitializer constructor.

Parameters

opts	Initializer options
checker	Refernece to the MSCEqF checker

Member Function Documentation

b0()

const Vector6 & msceqf::StaticInitializer::b0 ( ) const

nodiscard

This function returns the initial IMU bias, to be used as origin.

Returns

Initial IMU bias (gyroscope bias and accelerometer bias)

detectMotion()

bool msceqf::StaticInitializer::detectMotion ( const Tracks & tracks )

nodiscard

This function detects if the platform is moving based on acceleration measurements and image disparity.

Parameters

tracks

Tracks up to date used for disparity check

Returns

true if motion is detected, flase otherwise

initializeOrigin()

bool msceqf::StaticInitializer::initializeOrigin ( )

nodiscard

This fnctions collects a predefined window of IMU measurments and compute the roll and pitch fo the platform togheter with the IMU bias without waiting for motion.

Returns

true if the initialization of the origin has succeedded, false otherwise

insertImu()

void msceqf::StaticInitializer::insertImu

(

const Imu &

imu

)

Populate imu internal buffer used for acceleration check.

Parameters

imu	Actual imu measurement

T0()

const SE23 & msceqf::StaticInitializer::T0 ( ) const

nodiscard

This function returns the initial Extended pose of the platform, to be used as origin.

Returns

Initial extended pose of the platform (orientation, velocity and position)

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

• include/msceqf/filter/initializer/static_initializer.hpp