My Project 1.0
Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::GraphConfig Struct Reference

#include <GraphConfig.h>

Public Member Functions

 GraphConfig ()

Public Attributes

int verboseLevel_ = 0
bool odomNotJumpAtStartFlag_ = false
bool logRealTimeStateToMemoryFlag_ = false
bool logLatencyAndUpdateDurationToMemoryFlag_ = false
double imuRate_ = 100
int createStateEveryNthImuMeasurement_ = 1
bool useImuSignalLowPassFilter_ = true
double imuLowPassFilterCutoffFreqHz_ = 60
int imuBufferLength_ = 200
double imuTimeOffset_ = 0.0
bool isImuAccInG_ = false
bool staticAtStartup_ = true
bool estimateGravityFromImuFlag_ = true
double gravityMagnitude_ = 9.81
Eigen::Vector3d W_gravityVector_ = Eigen::Vector3d(0.0, 0.0, -1) * gravityMagnitude_
double realTimeSmootherLag_ = 1.5
bool realTimeSmootherUseIsamFlag_ = true
bool realTimeSmootherUseCholeskyFactorizationFlag_ = true
bool useAdditionalSlowBatchSmootherFlag_ = false
bool slowBatchSmootherUseIsamFlag_ = false
bool slowBatchSmootherUseCholeskyFactorizationFlag_ = false
double gaussNewtonWildfireThreshold_ = 0.001
double minOptimizationFrequency_ = 5
double maxOptimizationFrequency_ = 100
int additionalOptimizationIterations_ = 0
bool findUnusedFactorSlotsFlag_ = false
bool enableDetailedResultsFlag_ = false
bool usingBiasForPreIntegrationFlag_ = true
bool useWindowForMarginalsComputationFlag_ = true
double windowSizeSecondsForMarginalsComputation_ = 300.0
bool optimizeReferenceFramePosesWrtWorldFlag_ = true
double referenceFramePosesResetThreshold_ = 0.5
bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag_ = false
double createReferenceAlignmentKeyframeEveryNSeconds_ = 10.0
bool optimizeExtrinsicSensorToSensorCorrectedOffsetFlag_ = false
double accNoiseDensity_ = 1e-03
double integrationNoiseDensity_ = 1.0e-04
double gyroNoiseDensity_ = 1e-04
bool earthRotationCompensationFlag_ = false
double latitudeDeg_ = 47.4
bool worldFrameNorthAlignedFlag_ = false
double accBiasRandomWalkNoiseDensity_ = 1e-04
double gyroBiasRandomWalkNoiseDensity_ = 1e-05
Eigen::Vector3d accBiasPrior_ = Eigen::Vector3d(0.0, 0.0, 0.0)
Eigen::Vector3d gyroBiasPrior_ = Eigen::Vector3d(0.0, 0.0, 0.0)
double initialPositionStdDev_ = 1e-01
double initialOrientationStdDev_ = 1e-01
double initialVelocityStdDev_ = 1e-01
double initialAccBiasStdDev_ = 1e-01
double initialGyroBiasStdDev_ = 1e-01
double positionReLinTh_ = 1e-3
double rotationReLinTh_ = 1e-3
double velocityReLinTh_ = 1e-3
double accBiasReLinTh_ = 1e-3
double gyroBiasReLinTh_ = 1e-3
double referenceFrameReLinTh_ = 1e-3
double calibrationReLinTh_ = 1e-3
double displacementReLinTh_ = 1e-3
double landmarkReLinTh_ = 1e-3
int relinearizeSkip_ = 1
bool enableRelinearizationFlag_ = true
bool evaluateNonlinearErrorFlag_ = true
bool cacheLinearizedFactorsFlag_ = true
bool enablePartialRelinearizationCheckFlag_ = true
double maxSearchDeviation_ = 0.01

Detailed Description

Definition at line 23 of file GraphConfig.h.

Constructor & Destructor Documentation

◆ GraphConfig()

holistic_fusion::GraphConfig::GraphConfig ( )
inline

Definition at line 24 of file GraphConfig.h.

Member Data Documentation

◆ accBiasPrior_

Eigen::Vector3d holistic_fusion::GraphConfig::accBiasPrior_ = Eigen::Vector3d(0.0, 0.0, 0.0)

Definition at line 87 of file GraphConfig.h.

◆ accBiasRandomWalkNoiseDensity_

double holistic_fusion::GraphConfig::accBiasRandomWalkNoiseDensity_ = 1e-04

Definition at line 85 of file GraphConfig.h.

◆ accBiasReLinTh_

double holistic_fusion::GraphConfig::accBiasReLinTh_ = 1e-3

Definition at line 101 of file GraphConfig.h.

◆ accNoiseDensity_

double holistic_fusion::GraphConfig::accNoiseDensity_ = 1e-03

Definition at line 74 of file GraphConfig.h.

◆ additionalOptimizationIterations_

int holistic_fusion::GraphConfig::additionalOptimizationIterations_ = 0

Definition at line 58 of file GraphConfig.h.

◆ cacheLinearizedFactorsFlag_

bool holistic_fusion::GraphConfig::cacheLinearizedFactorsFlag_ = true

Definition at line 111 of file GraphConfig.h.

◆ calibrationReLinTh_

double holistic_fusion::GraphConfig::calibrationReLinTh_ = 1e-3

Definition at line 104 of file GraphConfig.h.

◆ centerMeasurementsAtKeyframePositionBeforeAlignmentFlag_

bool holistic_fusion::GraphConfig::centerMeasurementsAtKeyframePositionBeforeAlignmentFlag_ = false

Definition at line 67 of file GraphConfig.h.

◆ createReferenceAlignmentKeyframeEveryNSeconds_

double holistic_fusion::GraphConfig::createReferenceAlignmentKeyframeEveryNSeconds_ = 10.0

Definition at line 68 of file GraphConfig.h.

◆ createStateEveryNthImuMeasurement_

int holistic_fusion::GraphConfig::createStateEveryNthImuMeasurement_ = 1

Definition at line 34 of file GraphConfig.h.

◆ displacementReLinTh_

double holistic_fusion::GraphConfig::displacementReLinTh_ = 1e-3

Definition at line 105 of file GraphConfig.h.

◆ earthRotationCompensationFlag_

bool holistic_fusion::GraphConfig::earthRotationCompensationFlag_ = false

Definition at line 79 of file GraphConfig.h.

◆ enableDetailedResultsFlag_

bool holistic_fusion::GraphConfig::enableDetailedResultsFlag_ = false

Definition at line 60 of file GraphConfig.h.

◆ enablePartialRelinearizationCheckFlag_

bool holistic_fusion::GraphConfig::enablePartialRelinearizationCheckFlag_ = true

Definition at line 112 of file GraphConfig.h.

◆ enableRelinearizationFlag_

bool holistic_fusion::GraphConfig::enableRelinearizationFlag_ = true

Definition at line 109 of file GraphConfig.h.

◆ estimateGravityFromImuFlag_

bool holistic_fusion::GraphConfig::estimateGravityFromImuFlag_ = true

Definition at line 43 of file GraphConfig.h.

◆ evaluateNonlinearErrorFlag_

bool holistic_fusion::GraphConfig::evaluateNonlinearErrorFlag_ = true

Definition at line 110 of file GraphConfig.h.

◆ findUnusedFactorSlotsFlag_

bool holistic_fusion::GraphConfig::findUnusedFactorSlotsFlag_ = false

Definition at line 59 of file GraphConfig.h.

◆ gaussNewtonWildfireThreshold_

double holistic_fusion::GraphConfig::gaussNewtonWildfireThreshold_ = 0.001

Definition at line 55 of file GraphConfig.h.

◆ gravityMagnitude_

double holistic_fusion::GraphConfig::gravityMagnitude_ = 9.81

Definition at line 44 of file GraphConfig.h.

◆ gyroBiasPrior_

Eigen::Vector3d holistic_fusion::GraphConfig::gyroBiasPrior_ = Eigen::Vector3d(0.0, 0.0, 0.0)

Definition at line 88 of file GraphConfig.h.

◆ gyroBiasRandomWalkNoiseDensity_

double holistic_fusion::GraphConfig::gyroBiasRandomWalkNoiseDensity_ = 1e-05

Definition at line 86 of file GraphConfig.h.

◆ gyroBiasReLinTh_

double holistic_fusion::GraphConfig::gyroBiasReLinTh_ = 1e-3

Definition at line 102 of file GraphConfig.h.

◆ gyroNoiseDensity_

double holistic_fusion::GraphConfig::gyroNoiseDensity_ = 1e-04

Definition at line 77 of file GraphConfig.h.

◆ imuBufferLength_

int holistic_fusion::GraphConfig::imuBufferLength_ = 200

Definition at line 37 of file GraphConfig.h.

◆ imuLowPassFilterCutoffFreqHz_

double holistic_fusion::GraphConfig::imuLowPassFilterCutoffFreqHz_ = 60

Definition at line 36 of file GraphConfig.h.

◆ imuRate_

double holistic_fusion::GraphConfig::imuRate_ = 100

Definition at line 33 of file GraphConfig.h.

◆ imuTimeOffset_

double holistic_fusion::GraphConfig::imuTimeOffset_ = 0.0

Definition at line 38 of file GraphConfig.h.

◆ initialAccBiasStdDev_

double holistic_fusion::GraphConfig::initialAccBiasStdDev_ = 1e-01

Definition at line 93 of file GraphConfig.h.

◆ initialGyroBiasStdDev_

double holistic_fusion::GraphConfig::initialGyroBiasStdDev_ = 1e-01

Definition at line 94 of file GraphConfig.h.

◆ initialOrientationStdDev_

double holistic_fusion::GraphConfig::initialOrientationStdDev_ = 1e-01

Definition at line 91 of file GraphConfig.h.

◆ initialPositionStdDev_

double holistic_fusion::GraphConfig::initialPositionStdDev_ = 1e-01

Definition at line 90 of file GraphConfig.h.

◆ initialVelocityStdDev_

double holistic_fusion::GraphConfig::initialVelocityStdDev_ = 1e-01

Definition at line 92 of file GraphConfig.h.

◆ integrationNoiseDensity_

double holistic_fusion::GraphConfig::integrationNoiseDensity_ = 1.0e-04

Definition at line 75 of file GraphConfig.h.

◆ isImuAccInG_

bool holistic_fusion::GraphConfig::isImuAccInG_ = false

Definition at line 39 of file GraphConfig.h.

◆ landmarkReLinTh_

double holistic_fusion::GraphConfig::landmarkReLinTh_ = 1e-3

Definition at line 106 of file GraphConfig.h.

◆ latitudeDeg_

double holistic_fusion::GraphConfig::latitudeDeg_ = 47.4

Definition at line 80 of file GraphConfig.h.

◆ logLatencyAndUpdateDurationToMemoryFlag_

bool holistic_fusion::GraphConfig::logLatencyAndUpdateDurationToMemoryFlag_ = false

Definition at line 30 of file GraphConfig.h.

◆ logRealTimeStateToMemoryFlag_

bool holistic_fusion::GraphConfig::logRealTimeStateToMemoryFlag_ = false

Definition at line 29 of file GraphConfig.h.

◆ maxOptimizationFrequency_

double holistic_fusion::GraphConfig::maxOptimizationFrequency_ = 100

Definition at line 57 of file GraphConfig.h.

◆ maxSearchDeviation_

double holistic_fusion::GraphConfig::maxSearchDeviation_ = 0.01

Definition at line 115 of file GraphConfig.h.

◆ minOptimizationFrequency_

double holistic_fusion::GraphConfig::minOptimizationFrequency_ = 5

Definition at line 56 of file GraphConfig.h.

◆ odomNotJumpAtStartFlag_

bool holistic_fusion::GraphConfig::odomNotJumpAtStartFlag_ = false

Definition at line 28 of file GraphConfig.h.

◆ optimizeExtrinsicSensorToSensorCorrectedOffsetFlag_

bool holistic_fusion::GraphConfig::optimizeExtrinsicSensorToSensorCorrectedOffsetFlag_ = false

Definition at line 70 of file GraphConfig.h.

◆ optimizeReferenceFramePosesWrtWorldFlag_

bool holistic_fusion::GraphConfig::optimizeReferenceFramePosesWrtWorldFlag_ = true

Definition at line 65 of file GraphConfig.h.

◆ positionReLinTh_

double holistic_fusion::GraphConfig::positionReLinTh_ = 1e-3

Definition at line 98 of file GraphConfig.h.

◆ realTimeSmootherLag_

double holistic_fusion::GraphConfig::realTimeSmootherLag_ = 1.5

Definition at line 48 of file GraphConfig.h.

◆ realTimeSmootherUseCholeskyFactorizationFlag_

bool holistic_fusion::GraphConfig::realTimeSmootherUseCholeskyFactorizationFlag_ = true

Definition at line 50 of file GraphConfig.h.

◆ realTimeSmootherUseIsamFlag_

bool holistic_fusion::GraphConfig::realTimeSmootherUseIsamFlag_ = true

Definition at line 49 of file GraphConfig.h.

◆ referenceFramePosesResetThreshold_

double holistic_fusion::GraphConfig::referenceFramePosesResetThreshold_ = 0.5

Definition at line 66 of file GraphConfig.h.

◆ referenceFrameReLinTh_

double holistic_fusion::GraphConfig::referenceFrameReLinTh_ = 1e-3

Definition at line 103 of file GraphConfig.h.

◆ relinearizeSkip_

int holistic_fusion::GraphConfig::relinearizeSkip_ = 1

Definition at line 108 of file GraphConfig.h.

◆ rotationReLinTh_

double holistic_fusion::GraphConfig::rotationReLinTh_ = 1e-3

Definition at line 99 of file GraphConfig.h.

◆ slowBatchSmootherUseCholeskyFactorizationFlag_

bool holistic_fusion::GraphConfig::slowBatchSmootherUseCholeskyFactorizationFlag_ = false

Definition at line 53 of file GraphConfig.h.

◆ slowBatchSmootherUseIsamFlag_

bool holistic_fusion::GraphConfig::slowBatchSmootherUseIsamFlag_ = false

Definition at line 52 of file GraphConfig.h.

◆ staticAtStartup_

bool holistic_fusion::GraphConfig::staticAtStartup_ = true

Definition at line 42 of file GraphConfig.h.

◆ useAdditionalSlowBatchSmootherFlag_

bool holistic_fusion::GraphConfig::useAdditionalSlowBatchSmootherFlag_ = false

Definition at line 51 of file GraphConfig.h.

◆ useImuSignalLowPassFilter_

bool holistic_fusion::GraphConfig::useImuSignalLowPassFilter_ = true

Definition at line 35 of file GraphConfig.h.

◆ useWindowForMarginalsComputationFlag_

bool holistic_fusion::GraphConfig::useWindowForMarginalsComputationFlag_ = true

Definition at line 62 of file GraphConfig.h.

◆ usingBiasForPreIntegrationFlag_

bool holistic_fusion::GraphConfig::usingBiasForPreIntegrationFlag_ = true

Definition at line 61 of file GraphConfig.h.

◆ velocityReLinTh_

double holistic_fusion::GraphConfig::velocityReLinTh_ = 1e-3

Definition at line 100 of file GraphConfig.h.

◆ verboseLevel_

int holistic_fusion::GraphConfig::verboseLevel_ = 0

Definition at line 27 of file GraphConfig.h.

◆ W_gravityVector_

Eigen::Vector3d holistic_fusion::GraphConfig::W_gravityVector_ = Eigen::Vector3d(0.0, 0.0, -1) * gravityMagnitude_

Definition at line 45 of file GraphConfig.h.

◆ windowSizeSecondsForMarginalsComputation_

double holistic_fusion::GraphConfig::windowSizeSecondsForMarginalsComputation_ = 300.0

Definition at line 63 of file GraphConfig.h.

◆ worldFrameNorthAlignedFlag_

bool holistic_fusion::GraphConfig::worldFrameNorthAlignedFlag_ = false

Definition at line 81 of file GraphConfig.h.

The documentation for this struct was generated from the following file: