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mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro jazzy showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro kilted showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro ardent showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro bouncy showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro crystal showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro eloquent showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro dashing showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro galactic showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro foxy showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro iron showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro lunar showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro jade showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro indigo showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
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ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro hydro showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro kinetic showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro melodic showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING

No version for distro noetic showing rolling. Known supported distros are highlighted in the buttons above.
Repo symbol

mola_imu_preintegration repository

mola_imu_preintegration

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/MOLAorg/mola_imu_preintegration.git
VCS Type git
VCS Version develop
Last Updated 2025-09-17
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mola_imu_preintegration 1.10.0

README

CI Check clang-format CI ROS

Distro Build dev Release
ROS 2 Humble (u22.04) Build Status Version
ROS 2 Jazzy (u24.04) Build Status Version
ROS 2 Kilted (u24.04) Build Status Version
ROS 2 Rolling (u24.04) Build Status Version

mola_imu_preintegration

A lightweight package for IMU preintegration routines, IMU data manipulation, and basic IMU calibration.

This repository provides:

  • mola::imu::IMUIntegrator: A C++ class to integrate IMU accelerations and angular velocities.
  • mola::imu::ImuTransformer: Transforms IMU readings from an arbitrary sensor pose to the vehicle reference base_link.
  • mola::imu::LocalVelocityBuffer: Holds a short window of local velocities, accelerations, and global orientation, from external estimators and an IMU.
  • mola::imu::trajectory_from_buffer(): Reconstruct a trajectory from a LocalVelocityBuffer.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
*/

CONTRIBUTING