Class Parameters

• Defined in File Parameters.h

Class Documentation

class Parameters

Parameters needed by StateEstimationSimple.

Public Functions

Parameters() = default

~Parameters() = default

void loadFrom(const mrpt::containers::yaml &cfg)

Loads all parameters from a YAML map node.

Public Members

double max_time_to_use_velocity_model = 2.0

Valid estimations will be extrapolated only up to this time since the last incorporated observation.

mrpt::math::TTwist3D initial_twist

double sigma_random_walk_acceleration_linear = 1.0

double sigma_random_walk_acceleration_angular = 1.0

bool enforce_planar_motion = false

regex for IMU sensor labels (ROS topics) to accept as IMU readings.

std::regex do_process_imu_labels = {".*"}

regex for odometry inputs labels (ROS topics) to be accepted as inputs

std::regex do_process_odometry_labels = {".*"}

regex for GNSS (GPS) labels (ROS topics) to be accepted as inputs

std::regex do_process_gnss_labels = {".*"}