gcop::InsState Struct Reference

#include <insmanifold.h>

List of all members.

Public Member Functions
	InsState ()
Public Attributes
Matrix3d	R
	rotation matrix
Vector3d	bg
	gyro bias
Vector3d	ba
	acceleration bias
Vector3d	p
	position
Vector3d	v
	velocity
Matrix15d	P
	covariance

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Constructor & Destructor Documentation

gcop::InsState::InsState

(

)

[inline]

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Member Data Documentation

Vector3d gcop::InsState::ba

acceleration bias

Referenced by gcop::InsManifold::Lift(), gcop::InsImu< _nz, _nu, _np >::operator()(), gcop::InsManifold::Retract(), and gcop::Ins::Step().

Vector3d gcop::InsState::bg

gyro bias

Referenced by gcop::InsManifold::Lift(), gcop::InsManifold::Retract(), and gcop::Ins::Step().

Vector3d gcop::InsState::p

position

Referenced by gcop::InsManifold::Lift(), gcop::InsGps< _nu, _np >::operator()(), gcop::InsManifold::Retract(), and gcop::Ins::Step().

Matrix15d gcop::InsState::P

covariance

Matrix3d gcop::InsState::R

rotation matrix

Referenced by gcop::InsManifold::Lift(), gcop::InsImu< _nz, _nu, _np >::operator()(), gcop::InsManifold::Retract(), and gcop::Ins::Step().

Vector3d gcop::InsState::v

velocity

Referenced by gcop::InsManifold::Lift(), gcop::InsManifold::Retract(), and gcop::Ins::Step().

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

• lib/systems/manifolds/insmanifold.h