Class Parameters
Defined in File Parameters.h
Class Documentation
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class Parameters
Parameters needed by StateEstimationSimple.
Public Functions
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Parameters() = default
Public Members
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double max_time_to_use_velocity_model = 2.0
Valid estimations will be extrapolated only up to this time since the last incorporated observation.
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mrpt::math::TTwist3D initial_twist
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double sigma_random_walk_acceleration_linear = 1.0
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double sigma_random_walk_acceleration_angular = 10.0
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double sigma_relative_pose_linear = 1.0
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double sigma_relative_pose_angular = 0.1
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double sigma_imu_angular_velocity = 0.05
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bool enforce_planar_motion = false
regex for IMU sensor labels (ROS topics) to accept as IMU readings.
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std::regex do_process_imu_labels_re = {".*"}
regex for odometry inputs labels (ROS topics) to be accepted as inputs
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std::regex do_process_odometry_labels_re = {".*"}
regex for GNSS (GPS) labels (ROS topics) to be accepted as inputs
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std::regex do_process_gnss_labels_re = {".*"}
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Parameters() = default