gcop::ImuState Struct Reference

#include <imumanifold.h>

List of all members.

Public Member Functions
	ImuState ()
Public Attributes
Matrix3d	R
	rotation matrix
Vector3d	bg
	gyro bias
Vector3d	ba
	acceleration bias
Matrix9d	P
	covariance

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Constructor & Destructor Documentation

gcop::ImuState::ImuState

(

)

[inline]

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Member Data Documentation

Vector3d gcop::ImuState::ba

acceleration bias

Referenced by gcop::ImuManifold::Lift(), gcop::ImuSensor< _nz, _nu, _np >::operator()(), gcop::ImuManifold::Retract(), and gcop::Imu::Step().

Vector3d gcop::ImuState::bg

gyro bias

Referenced by gcop::ImuManifold::Lift(), gcop::ImuManifold::Retract(), and gcop::Imu::Step().

Matrix9d gcop::ImuState::P

covariance

Matrix3d gcop::ImuState::R

rotation matrix

Referenced by gcop::ImuManifold::Lift(), gcop::ImuSensor< _nz, _nu, _np >::operator()(), gcop::ImuManifold::Retract(), and gcop::Imu::Step().

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

• lib/systems/manifolds/imumanifold.h