Class ImuState

• Defined in File state.h

Inheritance Relationships

Base Type

• public lupnt::State (Class State)

Class Documentation

class ImuState : public lupnt::State

Public Functions

inline ImuState(const Vec6 &x = Vec6::Zero())

Construct an ImuState (IMU bias/measurement state: body-frame angular velocity + acceleration) from a stacked 6-element vector. Used by ImuDynamics::Propagate as the state propagated for an IMU device.

Parameters:

x – [b_wx, b_wy, b_wz, b_ax, b_ay, b_az] in [rad/s, rad/s, rad/s, m/s^2, m/s^2, m/s^2].

inline ImuState(const State &x)

Reinterpret a generic State as an ImuState, checking its size and type tag (see Check).

Parameters:

x – 6-element state of type ImuState::TYPE.

inline ImuState &operator=(const State &x)

Assign from a generic State, checking its size and type tag (see Check) and copying its values.

inline Eigen::Ref<Vec3> b_w()

Mutable view of the body-frame angular velocity.

Returns:

Angular velocity [rad/s].

inline Eigen::Ref<Vec3> b_a()

Mutable view of the body-frame acceleration.

Returns:

Acceleration [m/s^2].

inline Vec3 b_w() const

Body-frame angular velocity.

Returns:

Angular velocity [rad/s].

inline Vec3 b_a() const

Body-frame acceleration.

Returns:

Acceleration [m/s^2].

Public Static Attributes

static StateType TYPE = "ImuState"

static int SIZE = 6