FidState Class Reference

Fiducial state structure. More...

#include <types.hpp>

Public Member Functions
Eigen::VectorXd	ToVector () const
	Get fiducial state as a vector. More...
bool	GetIsExtrinsic () const
	is_extrinsic getter function More...
void	SetIsExtrinsic (bool extrinsic)
	is_extrinsic setter function More...
void	SetState (const Eigen::VectorXd &state)
	Setter for state values. More...

Public Attributes
unsigned int	frame_id {0}
	Fiducial board ID.
Eigen::Vector3d	pos_f_in_l
	Fiducial position in the local frame.
Eigen::Quaterniond	ang_f_to_l
	Fiducial position in the local frame.
double	pos_stability {1e-9}
	Fiducial position stability.
double	ang_stability {1e-9}
	Fiducial orientation stability.
unsigned int	size {0}
	State size.
unsigned int	index {0}
	State index.
unsigned int	id {0}
	Fiducial ID.

Detailed Description

Fiducial state structure.

Member Function Documentation

GetIsExtrinsic()

bool FidState::GetIsExtrinsic

(

)

const

is_extrinsic getter function

Returns

is_extrinsic

SetIsExtrinsic()

void FidState::SetIsExtrinsic

(

bool

extrinsic

)

is_extrinsic setter function

Parameters

extrinsic

value to use for setting

SetState()

void FidState::SetState

(

const Eigen::VectorXd &

state

)

Setter for state values.

Parameters

state

state vector

ToVector()

Eigen::VectorXd FidState::ToVector

(

)

const

Get fiducial state as a vector.

Returns

Fiducial 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