Class Acceleration

• Defined in File state.h

Inheritance Relationships

Base Type

• public lupnt::State (Class State)

Class Documentation

class Acceleration : public lupnt::State

Public Functions

inline Acceleration(const Vec3 &x = Vec3::Zero())

Construct an Acceleration state from a stacked 3-element vector. Used as a standalone IMU measurement / output state (e.g. accelerometer readings) distinct from ImuState’s combined bias state.

Parameters:

x – [ax, ay, az], all in [m/s^2].

inline Real &ax()

Mutable reference to the x-component.

Returns:

Acceleration x-component [m/s^2].

inline Real &ay()

Mutable reference to the y-component.

Returns:

Acceleration y-component [m/s^2].

inline Real &az()

Mutable reference to the z-component.

Returns:

Acceleration z-component [m/s^2].

inline Real ax() const

Acceleration x-component.

Returns:

[m/s^2].

inline Real ay() const

Acceleration y-component.

Returns:

[m/s^2].

inline Real az() const

Acceleration z-component.

Returns:

[m/s^2].

Public Static Attributes

static StateType TYPE = "Acceleration"