ImuState Class Reference

ImuState structure. More...

#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...
void	SetExtrinsicState (const Eigen::VectorXd &state)
	Setter for extrinsic state values. More...
void	SetIntrinsicState (const Eigen::VectorXd &state)
	Setter for intrinsic state values. 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.
unsigned int	index {0}
	State index.
unsigned int	index_intrinsic {0}
	Intrinsic state index.
unsigned int	index_extrinsic {0}
	Extrinsic state index.

Detailed Description

ImuState structure.

Member Function Documentation

GetIsExtrinsic()

bool ImuState::GetIsExtrinsic

(

)

const

is_extrinsic getter function

Returns

is_extrinsic

GetIsIntrinsic()

bool ImuState::GetIsIntrinsic

(

)

const

is_intrinsic getter function

Returns

is_intrinsic

SetExtrinsicState()

void ImuState::SetExtrinsicState

(

const Eigen::VectorXd &

state

)

Setter for extrinsic state values.

Parameters

state

extrinsic state vector

SetIntrinsicState()

void ImuState::SetIntrinsicState

(

const Eigen::VectorXd &

state

)

Setter for intrinsic state values.

Parameters

state

intrinsic state vector

SetIsExtrinsic()

void ImuState::SetIsExtrinsic

(

bool

extrinsic

)

is_extrinsic setter function

Parameters

extrinsic

value to use for setting

SetIsIntrinsic()

void ImuState::SetIsIntrinsic

(

bool

intrinsic

)

is_intrinsic setter function

Parameters

intrinsic

value to use for setting

ToVector()

Eigen::VectorXd ImuState::ToVector

(

)

const

Get IMU state as a vector.

Returns

IMU 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