Base class for accelerometer models. More...
#include <accelerometer_models.h>
Inheritance diagram for calico::sensors::AccelerometerModel:
Public Member Functions | |
| template<typename T > | |
| absl::StatusOr< Eigen::Vector3< T > > | Project (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &p_sensor_world_sensor) const |
| template<typename T > | |
| absl::StatusOr< Eigen::Vector3< T > > | Unproject (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &measurement) const |
| virtual AccelerometerIntrinsicsModel | GetType () const =0 |
| Getter for accelerometer model type. | |
| virtual int | NumberOfParameters () const =0 |
| Getter for the number of parameters for this model. | |
Static Public Member Functions | |
| static std::unique_ptr< AccelerometerModel > | Create (AccelerometerIntrinsicsModel accelerometer_model) |
Detailed Description
Base class for accelerometer models.
Member Function Documentation
◆ Create()
|
static |
Factory method for creating a accelerometer model with accelerometer_model type. This method will return a nullptr if an unsupported AccelerometerIntrinsicsModel is passed in.
◆ Project()
template<typename T >
| absl::StatusOr< Eigen::Vector3< T > > calico::sensors::AccelerometerModel::Project | ( | const Eigen::VectorX< T > & | intrinsics, |
| const Eigen::Vector3< T > & | p_sensor_world_sensor | ||
| ) | const |
Project a specific force vector through the intrinsics model. Top level call invokes the derived class's implementation.
◆ Unproject()
template<typename T >
| absl::StatusOr< Eigen::Vector3< T > > calico::sensors::AccelerometerModel::Unproject | ( | const Eigen::VectorX< T > & | intrinsics, |
| const Eigen::Vector3< T > & | measurement | ||
| ) | const |
Invert the intrinsics model to get an specific force vector. Top level call invokes the derived class's implementation.
The documentation for this class was generated from the following files:
- calico/sensors/accelerometer_models.h
- calico/sensors/accelerometer_models.cpp
