#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/data_utils/read_imu_data.h>
◆ ReadImuData()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::ReadImuData::ReadImuData |
( |
std::vector< BufferEntryType > * |
data_out, |
|
|
std::shared_ptr< SensorAbsClass > |
sensor, |
|
|
const std::string & |
file_path, |
|
|
const double & |
time_offset = 0 |
|
) |
| |
|
inline |
32 std::vector<std::string> expect_entry = {
"t",
"a_x",
"a_y",
"a_z",
"w_x",
"w_y",
"w_z" };
35 ReadCsv(&csv_data, file_path);
37 unsigned long number_of_datapoints = csv_data[
"t"].size();
38 data_out->resize(number_of_datapoints);
40 for (
size_t k = 0; k < number_of_datapoints; k++)
42 Time time = csv_data[
"t"][k] + time_offset;
44 Eigen::Vector3d linear_acceleration(csv_data[
"a_x"][k], csv_data[
"a_y"][k], csv_data[
"a_z"][k]);
45 Eigen::Vector3d angular_velocity(csv_data[
"w_x"][k], csv_data[
"w_y"][k], csv_data[
"w_z"][k]);
48 data.set_measurement(std::make_shared<IMUMeasurementType>(linear_acceleration, angular_velocity));
50 BufferEntryType current_entry(time, data, sensor);
51 data_out->at(k) = current_entry;
std::map< std::string, std::vector< double > > CsvDataType
Definition: read_csv.h:26
The documentation for this class was generated from the following file: