Construct with measurements and parameters.
| 56 | |
| 57 | // Construct with measurements and parameters. |
| 58 | ImuError::ImuError(const okvis::ImuMeasurementDeque& imuMeasurements, |
| 59 | const okvis::ImuParameters& imuParameters, |
| 60 | const okvis::Time& t_0, |
| 61 | const okvis::Time& t_1) { |
| 62 | setImuMeasurements(imuMeasurements); |
| 63 | setImuParameters(imuParameters); |
| 64 | setT0(t_0); |
| 65 | setT1(t_1); |
| 66 | |
| 67 | OKVIS_ASSERT_TRUE_DBG(Exception, |
| 68 | t_0 >= imuMeasurements.front().timeStamp, |
| 69 | "First IMU measurement included in ImuError is not old enough!"); |
| 70 | OKVIS_ASSERT_TRUE_DBG(Exception, |
| 71 | t_1 <= imuMeasurements.back().timeStamp, |
| 72 | "Last IMU measurement included in ImuError is not new enough!"); |
| 73 | } |
| 74 | |
| 75 | // Propagates pose, speeds and biases with given IMU measurements. |
| 76 | int ImuError::redoPreintegration(const okvis::kinematics::Transformation& /*T_WS*/, |
nothing calls this directly
no outgoing calls
no test coverage detected