Class ViNodeState¶
Defined in File vio-types.h
Class Documentation¶
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class vio::ViNodeState¶
The state of a ViNode (pose, velocity and bias).
Public Functions
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inline explicit ViNodeState(const aslam::Transformation &T_M_I)¶
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inline ViNodeState()¶
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inline ViNodeState(const aslam::Transformation &T_M_I, const Eigen::Vector3d &v_M_I, const Eigen::Vector3d &accelerometer_bias, const Eigen::Vector3d &gyro_bias)¶
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inline ViNodeState(int64_t timestamp_ns, const aslam::Transformation &T_M_I, const Eigen::Vector3d &v_M_I, const Eigen::Vector3d &accelerometer_bias, const Eigen::Vector3d &gyro_bias)¶
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inline ViNodeState(int64_t timestamp_ns, const aslam::Transformation &T_M_I, const Eigen::Vector3d &v_M_I, const Eigen::Vector3d &accelerometer_bias, const Eigen::Vector3d &gyro_bias, const Eigen::Matrix<double, 6, 6> &pose_covariance, const Eigen::Matrix<double, 6, 6> &twist_covariance)¶
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inline virtual ~ViNodeState()¶
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inline int64_t getTimestamp() const¶
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inline void setTimestamp(int64_t timestamp_ns)¶
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inline int64_t getSequenceNumber() const¶
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inline void setSequenceNumber(int64_t sequence_number)¶
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inline const aslam::Transformation &get_T_M_I() const¶
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inline aslam::Transformation &get_T_M_I()¶
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inline const Eigen::Vector3d &get_v_M_I() const¶
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inline const Eigen::Vector3d &getAccBias() const¶
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inline const Eigen::Vector3d &getGyroBias() const¶
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inline const Eigen::Matrix<double, 6, 6> &getPoseCovariance() const¶
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inline const Eigen::Matrix<double, 6, 6> &getTwistCovariance() const¶
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inline Eigen::Matrix<double, 6, 1> getImuBias() const¶
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inline const aslam::Transformation &get_T_UTM_I() const¶
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inline const aslam::Transformation &get_T_UTM_B() const¶
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inline void set_T_M_I(const aslam::Transformation &T_M_I)¶
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inline void set_v_M_I(const Eigen::Vector3d &v_M_I)¶
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inline void setAccBias(const Eigen::Vector3d &acc_bias)¶
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inline void setGyroBias(const Eigen::Vector3d &gyro_bias)¶
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inline void setPoseCovariance(const Eigen::Matrix<double, 6, 6> &pose_covariance)¶
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inline void setTwistCovariance(const Eigen::Matrix<double, 6, 6> &twist_covariance)¶
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inline void set_T_UTM_I(const aslam::Transformation &T_UTM_I)¶
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inline void set_T_UTM_B(const aslam::Transformation &T_UTM_B)¶
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inline void setCovariancesFromRovioMatrix(const Eigen::MatrixXd &rovio_imu_covariance)¶
The first 12x12 sub-matrix of the rovio state contains both the pose covariance matrix P and the twist covariance matrix T P3x3 0 P3x3 0 T6x6 0 P3x3 0 P3x3.
Public Members
- ViNodeState
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inline explicit ViNodeState(const aslam::Transformation &T_M_I)¶