EKF class parameters. More...

#include <ekf.hpp>

Public Attributes
std::shared_ptr< DebugLogger >	debug_logger
	Debug logger.

double	data_log_rate {0.0}
	Body data log rate.

std::string	log_directory {""}
	Data log directory.

AugmentationType	augmenting_type {AugmentationType::ALL}
	Augmenting type.

double	augmenting_delta_time {1.0}
	Augmenting time.

double	augmenting_pos_error {0.1}
	Augmenting pos error.

double	augmenting_ang_error {0.1}
	Augmenting ang error.

Eigen::VectorXd	process_noise {Eigen::VectorXd::Ones(g_body_state_size)}
	Process noise.

Eigen::Vector3d	pos_b_in_l {Eigen::Vector3d::Zero()}
	Body local position.

Eigen::Quaterniond	ang_b_to_l {1, 0, 0, 0}
	Body local orientation.

Eigen::Vector3d	pos_e_in_g {Eigen::Vector3d::Zero()}
	Local frame position.

double	ang_l_to_e {0.0}
	Local frame heading.

GpsInitType	gps_init_type {GpsInitType::CONSTANT}
	GPS initialization type.

double	gps_init_baseline_dist {100.0}
	Minimum pos projection error.

double	gps_init_pos_thresh {0.1}
	Minimum ang projection error.

double	gps_init_ang_thresh {0.1}
	Baseline distance threshold.

double	motion_detection_chi_squared {1.0}
	Motion detection chi squared threshold.

double	imu_noise_scale_factor {100.0}
	Motion detection IMU noise scale factor.

bool	use_root_covariance {false}
	Flag to use the square-root form of Kalman filter.

bool	use_first_estimate_jacobian {false}
	Flag to use first estimate Jacobians.

Detailed Description

EKF class parameters.

The documentation for this struct was generated from the following file:

Public Attributes