Struct MeasData

• Defined in File measurement.h

Struct Documentation

struct MeasData

Unified measurement data: a predicted/observed observable vector and its noise covariance at a given epoch.

This is the return type of every Measurement and ErrorStateMeasurement model’s Compute. value stacks the observables selected by the measurement’s config (e.g. pseudorange/Doppler rows for GNSS, range/range-rate for a crosslink), and covariance is the corresponding diagonal (by convention) measurement noise R, sized value.size() x value.size().

Public Members

Real timestamp = 0.0

epoch [s]

VecXd value

stacked observable vector z

MatXd covariance

measurement noise covariance R [n_z x n_z]