My Project 1.0
Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::NavState Class Reference

#include <NavState.h>

Inheritance diagram for holistic_fusion::NavState:
Inheritance graph
[legend]

Public Member Functions

 NavState ()=default
 NavState (const NavState &navState)=default
 NavState (const Eigen::Isometry3d &T_W_Ik, Eigen::Vector3d I_v_W_I, Eigen::Vector3d I_w_W_I, const double timeK)
const Eigen::Isometry3d & getT_W_Ik () const
const Eigen::Vector3d & getI_v_W_I () const
const Eigen::Vector3d & getI_w_W_I () const
double getTimeK () const

Protected Member Functions

void updateInWorld (const Eigen::Isometry3d &T_W_Ik, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, double timeK)
void updateYawInWorld (double yaw_W_Ik)
void updatePositionInWorld (const Eigen::Vector3d &W_t_W_Ik)
virtual void updateLatestMeasurementTimestamp (double timeK)

Protected Attributes

Eigen::Isometry3d T_W_Ik_ = Eigen::Isometry3d::Identity()
Eigen::Vector3d I_v_W_I_ = Eigen::Vector3d::Zero()
Eigen::Vector3d I_w_W_I_ = Eigen::Vector3d::Zero()
double timeK_

Detailed Description

Definition at line 23 of file NavState.h.

Constructor & Destructor Documentation

◆ NavState() [1/3]

holistic_fusion::NavState::NavState ( )
default

◆ NavState() [2/3]

holistic_fusion::NavState::NavState ( const NavState & navState)
default

◆ NavState() [3/3]

holistic_fusion::NavState::NavState ( const Eigen::Isometry3d & T_W_Ik,
Eigen::Vector3d I_v_W_I,
Eigen::Vector3d I_w_W_I,
const double timeK )
inline

Definition at line 32 of file NavState.h.

Member Function Documentation

◆ getI_v_W_I()

const Eigen::Vector3d & holistic_fusion::NavState::getI_v_W_I ( ) const
inline

Definition at line 37 of file NavState.h.

◆ getI_w_W_I()

const Eigen::Vector3d & holistic_fusion::NavState::getI_w_W_I ( ) const
inline

Definition at line 38 of file NavState.h.

◆ getT_W_Ik()

const Eigen::Isometry3d & holistic_fusion::NavState::getT_W_Ik ( ) const
inline

Definition at line 36 of file NavState.h.

◆ getTimeK()

double holistic_fusion::NavState::getTimeK ( ) const
inline

Definition at line 39 of file NavState.h.

◆ updateInWorld()

void holistic_fusion::NavState::updateInWorld ( const Eigen::Isometry3d & T_W_Ik,
const Eigen::Vector3d & I_v_W_I,
const Eigen::Vector3d & I_w_W_I,
double timeK )
protected

Definition at line 17 of file NavState.cpp.

◆ updateLatestMeasurementTimestamp()

void holistic_fusion::NavState::updateLatestMeasurementTimestamp ( double timeK)
protectedvirtual

Reimplemented in holistic_fusion::SafeIntegratedNavState.

Definition at line 67 of file NavState.cpp.

◆ updatePositionInWorld()

void holistic_fusion::NavState::updatePositionInWorld ( const Eigen::Vector3d & W_t_W_Ik)
protected

Definition at line 63 of file NavState.cpp.

◆ updateYawInWorld()

void holistic_fusion::NavState::updateYawInWorld ( double yaw_W_Ik)
protected

Definition at line 54 of file NavState.cpp.

Member Data Documentation

◆ I_v_W_I_

Eigen::Vector3d holistic_fusion::NavState::I_v_W_I_ = Eigen::Vector3d::Zero()
protected

Definition at line 54 of file NavState.h.

◆ I_w_W_I_

Eigen::Vector3d holistic_fusion::NavState::I_w_W_I_ = Eigen::Vector3d::Zero()
protected

Definition at line 55 of file NavState.h.

◆ T_W_Ik_

Eigen::Isometry3d holistic_fusion::NavState::T_W_Ik_ = Eigen::Isometry3d::Identity()
protected

Definition at line 52 of file NavState.h.

◆ timeK_

double holistic_fusion::NavState::timeK_
protected

Definition at line 57 of file NavState.h.

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