src/lio/IMUIntegrator.cpp
/** \brief constructor of IMUIntegrator
 * \param[in] vIMU: IMU messages need to be integrated
 */
\brief constructor of IMUIntegrator
\param[in] vIMU: IMU messages need to be integrated
\ brief constructor of IMUIntegrator \ param [ in ] vIMU : IMU messages need to be integrated
IMUIntegrator::IMUIntegrator(std::vector<sensor_msgs::ImuConstPtr> vIMU):
vimuMsg(std::move(vIMU)){
  Reset();
  noise.setZero();
  noise.block<3, 3>(0, 0) =  Eigen::Matrix3d::Identity() * gyr_n * gyr_n;
  noise.block<3, 3>(3, 3) =  Eigen::Matrix3d::Identity() * acc_n * acc_n;
  noise.block<3, 3>(6, 6) =  Eigen::Matrix3d::Identity() * gyr_w * gyr_w;
  noise.block<3, 3>(9, 9) =  Eigen::Matrix3d::Identity() * acc_w * acc_w;
}
IMUIntegrator :: IMUIntegrator ( std :: vector < sensor_msgs :: ImuConstPtr > vIMU ) : vimuMsg ( std :: move ( vIMU ) ) { Reset ( ) ; noise . setZero ( ) ; noise . block < 3 , 3 > ( 0 , 0 ) = Eigen :: Matrix3d :: Identity ( ) * gyr_n * gyr_n ; noise . block < 3 , 3 > ( 3 , 3 ) = Eigen :: Matrix3d :: Identity ( ) * acc_n * acc_n ; noise . block < 3 , 3 > ( 6 , 6 ) = Eigen :: Matrix3d :: Identity ( ) * gyr_w * gyr_w ; noise . block < 3 , 3 > ( 9 , 9 ) = Eigen :: Matrix3d :: Identity ( ) * acc_w * acc_w ; }
\brief constructor of IMUIntegrator
 \param[in] vIMU: IMU messages need to be integrated
\ brief constructor of IMUIntegrator \ param [ in ] vIMU : IMU messages need to be integrated