AugState Class Reference

AugState structure. More...

#include <types.hpp>

Public Member Functions
Eigen::VectorXd	ToVector () const
	Get augmented state as a vector. More...

Public Attributes
int	frame_id {-1}
	Augmented frame ID.
double	time {0.0}
	Augmented frame ID.
Eigen::Vector3d	pos_b_in_l {0.0, 0.0, 0.0}
	Augmented IMU position.
Eigen::Quaterniond	ang_b_to_l {1.0, 0.0, 0.0, 0.0}
	Augmented IMU orientation.
unsigned int	size {g_aug_state_size}
	State size.
int	index {-1}
	State index.
double	alpha {0.0}
	Interpolation Factor.

Detailed Description

AugState structure.

Member Function Documentation

ToVector()

Eigen::VectorXd AugState::ToVector

(

)

const

Get augmented state as a vector.

Returns

Augmented state as a vector

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The documentation for this class was generated from the following files:

• src/ekf/types.hpp
• src/ekf/types.cpp