Struct IntervalStats¶
Defined in File lio.hpp
Struct Documentation¶
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struct IntervalStats¶
Accumulated IMU data stats over the time interval from previous lidar scan to current.
Public Functions
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inline void update(const Eigen::Vector3d &unbiased_ang_vel, const Eigen::Vector3d &uncompensated_unbiased_accel, const Eigen::Vector3d &compensated_accel)¶
Update stats with a new IMU measurement.
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inline void reset()¶
Reset all stats to zero.
Public Members
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int imu_count = 0¶
Number of IMU samples accumulated.
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Eigen::Vector3d angular_velocity_sum = Eigen::Vector3d::Zero()¶
Sum of angular velocities.
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Eigen::Vector3d body_acceleration_sum = Eigen::Vector3d::Zero()¶
Sum of gravity compensated accelerations.
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Eigen::Vector3d imu_acceleration_sum = Eigen::Vector3d::Zero()¶
Sum of raw IMU accelerations.
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double imu_accel_mag_mean = 0¶
Mean acceleration magnitude over interval.
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double welford_sum_of_squares = 0¶
Variance accumulator for acceleration magnitude.
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inline void update(const Eigen::Vector3d &unbiased_ang_vel, const Eigen::Vector3d &uncompensated_unbiased_accel, const Eigen::Vector3d &compensated_accel)¶