Class IMUFactor

• Defined in File imu_factor.h

Inheritance Relationships

Base Type

• public ceres::SizedCostFunction< 15, 7, 9, 7, 9 >

Class Documentation

class IMUFactor : public ceres::SizedCostFunction<15, 7, 9, 7, 9>

Derived from ceres cost function to describe the error of the pre-integration IMU data between image intervals, considering IMU readings and biases.

Public Functions

IMUFactor() = delete

inline IMUFactor(IntegrationBase *_pre_integration)

inline virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const

Public Members

IntegrationBase *pre_integration