holistic_fusion::SafeNavStateWithCovarianceAndBias Class Reference

#include <NavState.h>

Inheritance diagram for holistic_fusion::SafeNavStateWithCovarianceAndBias:

Collaboration diagram for holistic_fusion::SafeNavStateWithCovarianceAndBias:

Public Member Functions
	SafeNavStateWithCovarianceAndBias ()=default
	SafeNavStateWithCovarianceAndBias (const SafeNavStateWithCovarianceAndBias &navState)=default
	SafeNavStateWithCovarianceAndBias (const Eigen::Isometry3d &T_W_Ik, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, const double timeK, const Eigen::Matrix< double, 6, 6 > &poseCovariance, const Eigen::Matrix< double, 3, 3 > &velocityCovariance, Eigen::Vector3d accelerometerBias, Eigen::Vector3d gyroscopeBias, const TransformsDictionary< Eigen::Isometry3d > &fixedFrameTransforms, const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > &fixedFrameTransformsCovariance, const TransformsDictionary< Eigen::Isometry3d > &landmarkTransforms, const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > &landmarkTransformsCovariance)
	SafeNavStateWithCovarianceAndBias (const GraphState &graphState)
const Eigen::Matrix< double, 6, 6 > &	getPoseCovariance () const
const Eigen::Matrix< double, 3, 3 > &	getVelocityCovariance () const
const Eigen::Vector3d &	getAccelerometerBias () const
const Eigen::Vector3d &	getGyroscopeBias () const
const TransformsDictionary< Eigen::Isometry3d > &	getReferenceFrameTransforms () const
const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > &	getReferenceFrameTransformsCovariance () const
const TransformsDictionary< Eigen::Isometry3d > &	getLandmarkTransforms () const
const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > &	getLandmarkTransformsCovariance () const
Public Member Functions inherited from holistic_fusion::NavState
	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

Private Attributes
Eigen::Matrix< double, 6, 6 >	poseCovariance_
Eigen::Matrix< double, 3, 3 >	velocityCovariance_
Eigen::Vector3d	accelerometerBias_
Eigen::Vector3d	gyroscopeBias_
holistic_fusion::TransformsDictionary< Eigen::Isometry3d >	referenceFrameTransforms_
holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > >	referenceFrameTransformsCovariance_
holistic_fusion::TransformsDictionary< Eigen::Isometry3d >	landmarkTransforms_
holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > >	landmarkTransformsCovariance_

Additional Inherited Members
Protected Member Functions inherited from holistic_fusion::NavState
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 inherited from holistic_fusion::NavState
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 114 of file NavState.h.

Constructor & Destructor Documentation

SafeNavStateWithCovarianceAndBias() [1/4]

holistic_fusion::SafeNavStateWithCovarianceAndBias::SafeNavStateWithCovarianceAndBias ( )

default

SafeNavStateWithCovarianceAndBias() [2/4]

holistic_fusion::SafeNavStateWithCovarianceAndBias::SafeNavStateWithCovarianceAndBias ( const SafeNavStateWithCovarianceAndBias & navState )

default

SafeNavStateWithCovarianceAndBias() [3/4]

holistic_fusion::SafeNavStateWithCovarianceAndBias::SafeNavStateWithCovarianceAndBias ( const Eigen::Isometry3d & T_W_Ik, const Eigen::Vector3d & I_v_W_I, const Eigen::Vector3d & I_w_W_I, const double timeK, const Eigen::Matrix< double, 6, 6 > & poseCovariance, const Eigen::Matrix< double, 3, 3 > & velocityCovariance, Eigen::Vector3d accelerometerBias, Eigen::Vector3d gyroscopeBias, const TransformsDictionary< Eigen::Isometry3d > & fixedFrameTransforms, const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > & fixedFrameTransformsCovariance, const TransformsDictionary< Eigen::Isometry3d > & landmarkTransforms, const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > & landmarkTransformsCovariance )

inline

Definition at line 123 of file NavState.h.

SafeNavStateWithCovarianceAndBias() [4/4]

holistic_fusion::SafeNavStateWithCovarianceAndBias::SafeNavStateWithCovarianceAndBias ( const GraphState & graphState )

inlineexplicit

Definition at line 141 of file NavState.h.

Member Function Documentation

getAccelerometerBias()

const Eigen::Vector3d & holistic_fusion::SafeNavStateWithCovarianceAndBias::getAccelerometerBias ( ) const

inline

Definition at line 151 of file NavState.h.

getGyroscopeBias()

const Eigen::Vector3d & holistic_fusion::SafeNavStateWithCovarianceAndBias::getGyroscopeBias ( ) const

inline

Definition at line 152 of file NavState.h.

getLandmarkTransforms()

const TransformsDictionary< Eigen::Isometry3d > & holistic_fusion::SafeNavStateWithCovarianceAndBias::getLandmarkTransforms ( ) const

inline

Definition at line 157 of file NavState.h.

getLandmarkTransformsCovariance()

const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > & holistic_fusion::SafeNavStateWithCovarianceAndBias::getLandmarkTransformsCovariance ( ) const

inline

Definition at line 158 of file NavState.h.

getPoseCovariance()

const Eigen::Matrix< double, 6, 6 > & holistic_fusion::SafeNavStateWithCovarianceAndBias::getPoseCovariance ( ) const

inline

Definition at line 149 of file NavState.h.

getReferenceFrameTransforms()

const TransformsDictionary< Eigen::Isometry3d > & holistic_fusion::SafeNavStateWithCovarianceAndBias::getReferenceFrameTransforms ( ) const

inline

Definition at line 153 of file NavState.h.

getReferenceFrameTransformsCovariance()

const TransformsDictionary< Eigen::Matrix< double, 6, 6 > > & holistic_fusion::SafeNavStateWithCovarianceAndBias::getReferenceFrameTransformsCovariance ( ) const

inline

Definition at line 154 of file NavState.h.

getVelocityCovariance()

const Eigen::Matrix< double, 3, 3 > & holistic_fusion::SafeNavStateWithCovarianceAndBias::getVelocityCovariance ( ) const

inline

Definition at line 150 of file NavState.h.

Member Data Documentation

accelerometerBias_

Eigen::Vector3d holistic_fusion::SafeNavStateWithCovarianceAndBias::accelerometerBias_

private

Definition at line 165 of file NavState.h.

gyroscopeBias_

Eigen::Vector3d holistic_fusion::SafeNavStateWithCovarianceAndBias::gyroscopeBias_

private

Definition at line 166 of file NavState.h.

landmarkTransforms_

holistic_fusion::TransformsDictionary<Eigen::Isometry3d> holistic_fusion::SafeNavStateWithCovarianceAndBias::landmarkTransforms_

private

Definition at line 171 of file NavState.h.

landmarkTransformsCovariance_

holistic_fusion::TransformsDictionary<Eigen::Matrix<double, 6, 6> > holistic_fusion::SafeNavStateWithCovarianceAndBias::landmarkTransformsCovariance_

private

Definition at line 172 of file NavState.h.

poseCovariance_

Eigen::Matrix<double, 6, 6> holistic_fusion::SafeNavStateWithCovarianceAndBias::poseCovariance_

private

Definition at line 162 of file NavState.h.

referenceFrameTransforms_

holistic_fusion::TransformsDictionary<Eigen::Isometry3d> holistic_fusion::SafeNavStateWithCovarianceAndBias::referenceFrameTransforms_

private

Definition at line 168 of file NavState.h.

referenceFrameTransformsCovariance_

holistic_fusion::TransformsDictionary<Eigen::Matrix<double, 6, 6> > holistic_fusion::SafeNavStateWithCovarianceAndBias::referenceFrameTransformsCovariance_

private

Definition at line 169 of file NavState.h.

velocityCovariance_

Eigen::Matrix<double, 3, 3> holistic_fusion::SafeNavStateWithCovarianceAndBias::velocityCovariance_

private

Definition at line 163 of file NavState.h.

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

• holistic_fusion/include/holistic_fusion/interface/NavState.h