Struct mim_estimation::SystemState

struct SystemState

System state data.

Public Members

Eigen::Vector3d position = Eigen::Vector3d::Zero()

Base/Imu position.

Eigen::Vector3d linear_velocity = Eigen::Vector3d::Zero()

Base/Imu linear velocity.

Eigen::Quaterniond attitude = Eigen::Quaterniond::Identity()

Base/Imu linear attitude.

Eigen::Vector3d bias_accelerometer = Eigen::Vector3d::Zero()

Accelerometer bias.

Eigen::Vector3d bias_gyroscope = Eigen::Vector3d::Zero()

Gyroscope bias.

Eigen::MatrixXd covariance = Eigen::MatrixXd::Zero(state_dim, state_dim)

Process covariance.

Public Static Attributes

static const int state_dim = 15

State dimension.

static const int noise_dim = 12

Process noise dimension.