rtabmap::IMU Class Reference

Inertial measurement sample (ROS sensor_msgs/Imu-like fields). More...

#include <IMU.h>

Public Member Functions
	IMU ()
	Default-constructs an empty sample (null localTransform()).
	IMU (const cv::Vec4d &orientation, 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())
	Constructs a sample with orientation and motion data.
	IMU (const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
	Constructs a sample without orientation (e.g. no magnetometer / no attitude).
const cv::Vec4d &	orientation () const
const cv::Mat &	orientationCovariance () const
const cv::Vec3d &	angularVelocity () const
const cv::Mat &	angularVelocityCovariance () const
const cv::Vec3d &	linearAcceleration () const
const cv::Mat &	linearAccelerationCovariance () const
const Transform &	localTransform () const
void	convertToBaseFrame ()
	Rotate motion (and optionally orientation) into the base frame.
bool	empty () const
	True when localTransform() is null (placeholder / unset sample).

Detailed Description

Inertial measurement sample (ROS sensor_msgs/Imu-like fields).

Holds orientation (quaternion), angular velocity, linear acceleration, optional 3×3 row-major covariance matrices (double), and an optional Transform expressing the IMU frame relative to the robot base.

empty() is true when localTransform() is null (default constructor). A sample constructed with Transform::getIdentity() is not empty.

convertToBaseFrame() rotates linear/angular velocity (and orientation when quaternion x/y/z are non-zero) into the base frame, then clears rotation in localTransform() while keeping translation.

See also

SensorData::imu()

IMUEvent

Definition at line 56 of file IMU.h.

Constructor & Destructor Documentation

IMU() [1/3]

rtabmap::IMU::IMU ( )

inline

Default-constructs an empty sample (null localTransform()).

Definition at line 60 of file IMU.h.

IMU() [2/3]

rtabmap::IMU::IMU ( const cv::Vec4d &  orientation, 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()  )

inline

Constructs a sample with orientation and motion data.

Parameters

orientation	Unit quaternion (qx, qy, qz, qw).
orientationCovariance	3×3 row-major covariance about x, y, z (empty if unused).
angularVelocity	Rad/s about x, y, z.
angularVelocityCovariance	3×3 row-major covariance (empty if unused).
linearAcceleration	m/s² about x, y, z.
linearAccelerationCovariance	3×3 row-major covariance (empty if unused).
localTransform	IMU frame in base coordinates (default identity).

Definition at line 72 of file IMU.h.

IMU() [3/3]

rtabmap::IMU::IMU ( const cv::Vec3d &  angularVelocity, const cv::Mat &  angularVelocityCovariance, const cv::Vec3d &  linearAcceleration, const cv::Mat &  linearAccelerationCovariance, const Transform &  localTransform = Transform::getIdentity()  )

inline

Constructs a sample without orientation (e.g. no magnetometer / no attitude).

Parameters

angularVelocity	Rad/s about x, y, z.
angularVelocityCovariance	3×3 row-major covariance (empty if unused).
linearAcceleration	m/s² about x, y, z.
linearAccelerationCovariance	3×3 row-major covariance (empty if unused).
localTransform	IMU frame in base coordinates (default identity).

Definition at line 97 of file IMU.h.

Member Function Documentation

orientation()

const cv::Vec4d & rtabmap::IMU::orientation ( ) const

inline

Returns

Orientation quaternion (qx, qy, qz, qw).

Definition at line 111 of file IMU.h.

orientationCovariance()

const cv::Mat & rtabmap::IMU::orientationCovariance ( ) const

inline

Returns

3×3 orientation covariance (row-major, empty if orientation unset).

Definition at line 113 of file IMU.h.

angularVelocity()

const cv::Vec3d & rtabmap::IMU::angularVelocity ( ) const

inline

Returns

Angular velocity (rad/s).

Definition at line 116 of file IMU.h.

angularVelocityCovariance()

const cv::Mat & rtabmap::IMU::angularVelocityCovariance ( ) const

inline

Returns

3×3 angular velocity covariance (row-major, empty if unused).

Definition at line 118 of file IMU.h.

linearAcceleration()

const cv::Vec3d & rtabmap::IMU::linearAcceleration ( ) const

inline

Returns

Linear acceleration (m/s²).

Definition at line 121 of file IMU.h.

linearAccelerationCovariance()

const cv::Mat & rtabmap::IMU::linearAccelerationCovariance ( ) const

inline

Returns

3×3 linear acceleration covariance (row-major, empty if unused).

Definition at line 123 of file IMU.h.

localTransform()

const Transform & rtabmap::IMU::localTransform ( ) const

inline

Returns

Transform from IMU frame to base frame.

Definition at line 126 of file IMU.h.

convertToBaseFrame()

void rtabmap::IMU::convertToBaseFrame

(

)

Rotate motion (and optionally orientation) into the base frame.

Applies localTransform() rotation to vectors and covariances, then sets rotational part of localTransform() to identity (translation unchanged). No-op if localTransform() is null or rotation is identity. Orientation is updated only when quaternion qx, qy, qz, qw are not all zero.

empty()

bool rtabmap::IMU::empty ( ) const

inline

True when localTransform() is null (placeholder / unset sample).

Definition at line 141 of file IMU.h.

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

• corelib/include/rtabmap/core/IMU.h