BipedalLocomotion::Estimators::FloatingBaseEstimators::Options struct

#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimatorParams.h>

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