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