-
Notifications
You must be signed in to change notification settings - Fork 956
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Question about relSweepTime and _imuPositionShift #162
Comments
In |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Dear all,
A question about these two variables. Please correct me if I am wrong. The relSweepTime, from my understanding, is the current time relative to the sweep start time, as calculated by toSec(_scanTime - _sweepStart) + relTime; relTime is the point time stamp relative to the scan start time. However, when calculating the _ImuPositionShift, the _imuPositionShift = _imuCur.position - _imuStart.position - _imuStart.velocity * relSweepTime indicates that the _imuStart(which is the IMU state at scan start time) is multiplied by the relSweepTime. It results in: velocity from a scan start * time duration from a sweep start to current. Why is it not _imuStart.velocity * relTime? It is a velocity from a scan start * time duration from a scan start to current.
And idea on this? Thanks!
The text was updated successfully, but these errors were encountered: