#ifndef IMUCALIBER_H #define IMUCALIBER_H #include "localize_utils/utils.h" #include "system/parameter.h" #include "state/state.h" namespace juefx{ class ImuCaliber { public: using Ptr = boost::shared_ptr<ImuCaliber>; ImuCaliber(); void Reset(); static ImuCaliber::Ptr Instance(); bool CalculateImuPose(const IMUPacket &imu); private: uint16_t dataCnt_ = 0; Vector3f meanAcc_ = Vector3f::Zero(); }; } // end of namespace #endif // IMUCALIBER_H