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private void myMethod () {ArrayList a =
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}
@Override public void getLinearAccelerationBiasInIMUFrame(IMUSensorReadOnly imu, Vector3d linearAccelerationBiasToPack) { Integer imuIndex = imuToIndexMap.get(imu); if (!enableIMUBiasCompensation.getBooleanValue() || imuIndex == null) linearAccelerationBiasToPack.set(0.0, 0.0, 0.0); else linearAccelerationBiases.get(imuIndex.intValue()).get(linearAccelerationBiasToPack); }
@Override public void getAngularVelocityBiasInIMUFrame(IMUSensorReadOnly imu, Vector3d angularVelocityBiasToPack) { Integer imuIndex = imuToIndexMap.get(imu); if (!enableIMUBiasCompensation.getBooleanValue() || imuIndex == null) angularVelocityBiasToPack.set(0.0, 0.0, 0.0); else angularVelocityBiases.get(imuIndex.intValue()).get(angularVelocityBiasToPack); }
angularVelocityBiases.get(imuIndex).get(measurementBias); orientationMeasurement.transform(measurementBias); angularVelocityBiasesInWorld.get(imuIndex).set(measurementBias); linearAccelerationBiases.get(imuIndex).get(measurementBias); orientationMeasurement.transform(measurementBias); linearAccelerationBiasesInWorld.get(imuIndex).set(measurementBias);