BodyState Class Reference

BodyState structure. More...

#include <types.hpp>

Public Member Functions
	BodyState ()
	EKF State constructor.
Eigen::VectorXd	ToVector () const
	Get EKF state as a vector. More...
void	SetState (const Eigen::VectorXd &state)
	Function to set state using vector. More...

Public Attributes
Eigen::Vector3d	pos_b_in_l {0.0, 0.0, 0.0}
	Body position.
Eigen::Vector3d	vel_b_in_l {0.0, 0.0, 0.0}
	Body velocity.
Eigen::Vector3d	acc_b_in_l {g_gravity}
	Body acceleration.
Eigen::Quaterniond	ang_b_to_l {1.0, 0.0, 0.0, 0.0}
	Body orientation.
Eigen::Vector3d	ang_vel_b_in_l {0.0, 0.0, 0.0}
	Body angular velocity.
Eigen::Vector3d	ang_acc_b_in_l {0.0, 0.0, 0.0}
	Body angular acceleration.
unsigned int	size {g_body_state_size}
	State size.
int	index {-1}
	State index.

Detailed Description

BodyState structure.

Member Function Documentation

SetState()

void BodyState::SetState

(

const Eigen::VectorXd &

state

)

Function to set state using vector.

Parameters

state

vector for setting body state

ToVector()

Eigen::VectorXd BodyState::ToVector

(

)

const

Get EKF state as a vector.

Returns

EKF 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