Class AngularVelocity

• Defined in File state.h

Inheritance Relationships

Base Type

• public lupnt::State (Class State)

Class Documentation

class AngularVelocity : public lupnt::State

Public Functions

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

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

Parameters:

x – [wx, wy, wz], all in [rad/s].

inline Real &wx()

Mutable reference to the x-component.

Returns:

Angular velocity x-component [rad/s].

inline Real &wy()

Mutable reference to the y-component.

Returns:

Angular velocity y-component [rad/s].

inline Real &wz()

Mutable reference to the z-component.

Returns:

Angular velocity z-component [rad/s].

inline Real wx() const

Angular velocity x-component.

Returns:

[rad/s].

inline Real wy() const

Angular velocity y-component.

Returns:

[rad/s].

inline Real wz() const

Angular velocity z-component.

Returns:

[rad/s].

Public Static Attributes

static StateType TYPE = "AngularVelocity"