gcop::ImuManifold Class Reference

#include <imumanifold.h>

Inheritance diagram for gcop::ImuManifold:

Collaboration diagram for gcop::ImuManifold:

List of all members.

Public Member Functions
void	Lift (Vector9d &v, const ImuState &xa, const ImuState &xb)
void	Retract (ImuState &xb, const ImuState &xa, const Vector9d &v)
void	dtau (Matrix9d &M, const Vector9d &v)
void	Adtau (Matrix9d &M, const Vector9d &v)
Static Public Member Functions
static ImuManifold &	Instance ()

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Member Function Documentation

void ImuManifold::Adtau	(	Matrix9d &	M,
		const Vector9d &	v
	)

References Instance().

void ImuManifold::dtau	(	Matrix9d &	M,
		const Vector9d &	v
	)

References Instance().

ImuManifold & ImuManifold::Instance

(

)

[static]

Referenced by Adtau(), dtau(), Lift(), and Retract().

void ImuManifold::Lift	(	Vector9d &	v,
		const ImuState &	xa,
		const ImuState &	xb
	)

References gcop::ImuState::ba, gcop::ImuState::bg, Instance(), and gcop::ImuState::R.

void ImuManifold::Retract	(	ImuState &	xb,
		const ImuState &	xa,
		const Vector9d &	v
	)

References gcop::ImuState::ba, gcop::ImuState::bg, Instance(), and gcop::ImuState::R.

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

• lib/systems/manifolds/imumanifold.h
• lib/systems/manifolds/imumanifold.cc