这里给出imu积分代码, 所算的tmp_Q, tmp_P, tmp_V在 /world 坐标系下
Eigen::Vector3d tmp_P;
Eigen::Quaterniond tmp_Q;
Eigen::Vector3d tmp_V;
Eigen::Vector3d tmp_Ba;//bias可以优化计算,也可以用工程化方法得出
Eigen::Vector3d tmp_Bg;
Eigen::Vector3d g; // /world
Eigen::Vector3d acc_0;//上一时刻的测量值
Eigen::Vector3d gyr_0;//上一时刻的测量值
//input:imu_msg ros采集
//output: tmp_Q, tmp_P, tmp_V
void predict(const sensor_msgs::ImuConstPtr &imu_msg)
{
double t = imu_msg->header.stamp.toSec();
double dt = t - latest_time;
latest_time = t;
double dx = imu_msg->linear_acceleration.x;
double dy = imu_msg->linear_acceleration.y;
double dz = imu_msg->linear_acceleration.z;
Eigen::Vector3d linear_acceleration{dx, dy, dz};
double rx = imu_msg->angular_velocity.x;
double ry = imu_msg->angular_velocity.y;
double rz = imu_msg->angular_velocity.z;
Eigen::Vector