Class ImuCovarianceFactory

• Defined in File imu_covariance_factory.h

Class Documentation

class ImuCovarianceFactory

Factory for creating covariance providers based on configuration.

Public Static Functions

static std::unique_ptr<ImuCovarianceInterface> createFromParameters(const std::shared_ptr<rclcpp::Node> &node)

Create a covariance provider from ROS2 parameters.

Parameters:

node – ROS2 node for parameter access.

Returns:

Unique pointer to covariance provider, or nullptr if disabled

static std::unique_ptr<ImuCovarianceInterface> create(CovarianceAlgorithm algorithm, const std::shared_ptr<rclcpp::Node> &node)

Create a covariance provider by algorithm type.

Parameters:

params – Algorithm-specific parameters.

Returns:

Unique pointer to covariance provider.

static CovarianceAlgorithm parseAlgorithm(const std::string &algorithm_str)

Parse algorithm type from string.

Parameters:

algorithm_str – String representation (“static, welford”, “sliding_window”, “ewma”, “kalman”).

Returns:

Corresponding enum value.