struct
OptionsStruct containing options runtime options for floating base estimator.
Public variables
- bool imuBiasEstimationEnabled
- Enable/disable online accelerometer and gyroscope bias estimation.
- bool staticImuBiasInitializationEnabled
- Enable/disable IMU bias initialization using initial set of measurements in a static configuration.
- int nrSamplesForImuBiasInitialization
- Number of initial measurement samples in a static configuration used for IMU bias initialization.
- bool ekfUpdateEnabled
- Enable/disable measurement update step of the internal EKF.
- bool kinematicsUpdateEnabled
- Enable/disable kinematics based correction updates.
- bool staticLandmarksUpdateEnabled
- Enable/disable landmarks based correction updates.
- Eigen::Vector3d accelerationDueToGravity
- Acceleration vector due to gravity.
Variable documentation
bool BipedalLocomotion:: Estimators:: FloatingBaseEstimators:: Options:: staticImuBiasInitializationEnabled
Enable/disable IMU bias initialization using initial set of measurements in a static configuration.