#include <types.hpp>

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

bool	GetIsExtrinsic () const
	is_extrinsic getter function More...

bool	GetIsIntrinsic () const
	is_intrinsic getter function More...

void	SetIsExtrinsic (bool extrinsic)
	is_extrinsic setter function More...

void	SetIsIntrinsic (bool intrinsic)
	is_intrinsic setter function More...

Public Attributes
double	pos_stability {1e-9}
	Extrinsic position stability.

double	ang_stability {1e-9}
	Extrinsic orientation stability.

double	acc_bias_stability {1e-9}
	Accelerometer bias stability.

double	omg_bias_stability {1e-9}
	Gyroscope bias stability.

Eigen::Vector3d	pos_i_in_b {0.0, 0.0, 0.0}
	Position.

Eigen::Quaterniond	ang_i_to_b {1.0, 0.0, 0.0, 0.0}
	Orientation.

Eigen::Vector3d	acc_bias {0.0, 0.0, 0.0}
	Acceleration bias.

Eigen::Vector3d	omg_bias {0.0, 0.0, 0.0}
	Angular rate bias.

unsigned int	size {0}
	State size.

int	index {-1}
	State index.

int	index_intrinsic {-1}
	Intrinsic state index.

int	index_extrinsic {-1}
	Extrinsic state index.

Detailed Description

ImuState structure.

Member Function Documentation

bool ImuState::GetIsExtrinsic ( ) const

is_extrinsic getter function

bool ImuState::GetIsIntrinsic ( ) const

is_intrinsic getter function

void ImuState::SetIsExtrinsic ( bool extrinsic )

is_extrinsic setter function

Parameters

extrinsic value to use for setting

void ImuState::SetIsIntrinsic ( bool intrinsic )

is_intrinsic setter function

Parameters

intrinsic value to use for setting

Eigen::VectorXd ImuState::ToVector ( ) const

Get IMU state as a vector.

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