| 29 | ImuProcess::~ImuProcess() {} |
| 30 | |
| 31 | void ImuProcess::Reset() { |
| 32 | ROS_WARN("Reset ImuProcess"); |
| 33 | |
| 34 | b_first_frame_ = true; |
| 35 | last_lidar_ = nullptr; |
| 36 | last_imu_ = nullptr; |
| 37 | |
| 38 | gyr_int_.Reset(-1, nullptr); |
| 39 | |
| 40 | cur_pcl_in_.reset(new PointCloudXYZI()); |
| 41 | cur_pcl_un_.reset(new PointCloudXYZI()); |
| 42 | } |
| 43 | |
| 44 | void ImuProcess::IntegrateGyr(const std::vector<sensor_msgs::Imu::ConstPtr> &v_imu) |
| 45 | { |