State Class Reference

EKF State Class. More...

#include <types.hpp>

Collaboration diagram for State:

Public Member Functions
	State ()
	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...
unsigned int	GetStateSize () const
	Get EKF state size. More...

Public Attributes
BodyState	body_state {}
	Body state.
std::map< unsigned int, ImuState >	imu_states {}
	IMU states.
std::map< unsigned int, GpsState >	gps_states {}
	GPS states.
std::map< unsigned int, CamState >	cam_states {}
	Camera states.
std::map< unsigned int, FidState >	fid_states {}
	Fiducial states.
std::map< unsigned int, std::vector< AugState > >	aug_states {}
	Fiducial states.

Detailed Description

EKF State Class.

Member Function Documentation

GetStateSize()

unsigned int State::GetStateSize

(

)

const

Get EKF state size.

Returns

EKF state size as an integer

SetState()

void State::SetState

(

const Eigen::VectorXd &

state

)

Function to set state using vector.

Parameters

state

vector for setting state

ToVector()

Eigen::VectorXd State::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