IMU.h

/*
Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#ifndef IMU_H_
#define IMU_H_
 
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <opencv2/core/core.hpp>
#include <rtabmap/utilite/UEvent.h>
#include <rtabmap/core/Transform.h>
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT IMU
{
public:
  IMU() {}
 
  IMU(const cv::Vec4d & orientation, // qx qy qz qw
    const cv::Mat & orientationCovariance,
    const cv::Vec3d & angularVelocity,
    const cv::Mat & angularVelocityCovariance,
    const cv::Vec3d & linearAcceleration,
    const cv::Mat & linearAccelerationCovariance,
    const Transform & localTransform = Transform::getIdentity()) :
      orientation_(orientation),
      orientationCovariance_(orientationCovariance),
      angularVelocity_(angularVelocity),
      angularVelocityCovariance_(angularVelocityCovariance),
      linearAcceleration_(linearAcceleration),
      linearAccelerationCovariance_(linearAccelerationCovariance),
      localTransform_(localTransform)
  {
  }
 
  IMU(const cv::Vec3d & angularVelocity,
    const cv::Mat & angularVelocityCovariance,
    const cv::Vec3d & linearAcceleration,
    const cv::Mat & linearAccelerationCovariance,
    const Transform & localTransform = Transform::getIdentity()) :
      angularVelocity_(angularVelocity),
      angularVelocityCovariance_(angularVelocityCovariance),
      linearAcceleration_(linearAcceleration),
      linearAccelerationCovariance_(linearAccelerationCovariance),
      localTransform_(localTransform)
  {
  }
 
  const cv::Vec4d & orientation() const {return orientation_;}
  const cv::Mat & orientationCovariance() const {return orientationCovariance_;}
 
  const cv::Vec3d & angularVelocity() const {return angularVelocity_;}
  const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;}
 
  const cv::Vec3d & linearAcceleration() const {return linearAcceleration_;}
  const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;}
 
  const Transform & localTransform() const {return localTransform_;}
 
  void convertToBaseFrame();
 
  bool empty() const
  {
    return localTransform_.isNull();
  }
 
private:
  cv::Vec4d orientation_;
  cv::Mat orientationCovariance_;
 
  cv::Vec3d angularVelocity_;
  cv::Mat angularVelocityCovariance_;
 
  cv::Vec3d linearAcceleration_;
  cv::Mat linearAccelerationCovariance_;
 
  Transform localTransform_;
};
 
class IMUEvent : public UEvent
{
public:
  IMUEvent() :
    stamp_(0.0)
  {}
  IMUEvent(const IMU & data, double stamp) :
    data_(data),
    stamp_(stamp)
  {
  }
  virtual std::string getClassName() const {return "IMUEvent";}
  const IMU & getData() const {return data_;}
  double getStamp() const {return stamp_;}
 
private:
  IMU data_;
  double stamp_;
};
 
}
 
#endif /* IMU_H_ */