Delta time (dt) variable inside pose_system.hpp

[kunnalparihar]

I am a little confused as to how did you choose dt as 0.01? https://github.com/koide3/hdl_localization/blob/master/include/hdl_localization/pose_system.hpp#L21 Imu frequency is 200 Hz I guess dt should be equal to (1 / imu_frequency)

Thank you in advance

[koide3]

Yes, you are correct, and dt will be updated based on the last and current data timestamps.

https://github.com/koide3/hdl_localization/blob/1cdef711d66fdb4ec8969623dd2568eb3f45ce25/src/hdl_localization/pose_estimator.cpp#L66

[kunnalparihar]

okay, I got it. thanks