mola_imu_preintegration
- Software
- Navigation and mapping
- Library
A lightweight C++ package for IMU preintegration, IMU data manipulation and basic IMU calibration, part of the MOLA framework.
Made by The MOLA SLAM framework, Spain (checked on github.com/MOLAorg (opens in a new tab)).
Source on GitHub: github.com/MOLAorg/mola_imu_preintegration (opens in a new tab). Facts read at commit 6daa44f (opens in a new tab).
Licenses
- Code
- GPL-3.0-only (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit 6daa44f (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
Copyleft: Modified source must be published.
What it does
- Integrates IMU accelerations and angular velocities with the IMUIntegrator class.
- Transforms IMU readings from an arbitrary sensor pose to the vehicle base_link reference.
- Holds a short window of local velocities, accelerations and global orientation in a LocalVelocityBuffer.
- Reconstructs a trajectory from a LocalVelocityBuffer with trajectory_from_buffer().
Written by Robotheca from the project's README (opens in a new tab) at commit 6daa44f.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 15 Oct 2026 on develop
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.