Class ViNodeState

Inheritance Relationships

Derived Type

Class Documentation

class vio::ViNodeState

The state of a ViNode (pose, velocity and bias).

Subclassed by vio::ViNodeStateAndCovariance

Public Functions

inline explicit ViNodeState(const aslam::Transformation &T_M_I)
inline ViNodeState()
inline ViNodeState(const aslam::Transformation &T_M_I, const Eigen::Vector3d &v_M_I, const Eigen::Vector3d &accelerometer_bias, const Eigen::Vector3d &gyro_bias)
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)
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)
inline virtual ~ViNodeState()
inline int64_t getTimestamp() const
inline void setTimestamp(int64_t timestamp_ns)
inline int64_t getSequenceNumber() const
inline void setSequenceNumber(int64_t sequence_number)
inline const aslam::Transformation &get_T_M_I() const
inline aslam::Transformation &get_T_M_I()
inline const Eigen::Vector3d &get_v_M_I() const
inline const Eigen::Vector3d &getAccBias() const
inline const Eigen::Vector3d &getGyroBias() const
inline const Eigen::Matrix<double, 6, 6> &getPoseCovariance() const
inline const Eigen::Matrix<double, 6, 6> &getTwistCovariance() const
inline Eigen::Matrix<double, 6, 1> getImuBias() const
inline const aslam::Transformation &get_T_UTM_I() const
inline const aslam::Transformation &get_T_UTM_B() const
inline void set_T_M_I(const aslam::Transformation &T_M_I)
inline void set_v_M_I(const Eigen::Vector3d &v_M_I)
inline void setAccBias(const Eigen::Vector3d &acc_bias)
inline void setGyroBias(const Eigen::Vector3d &gyro_bias)
inline void setPoseCovariance(const Eigen::Matrix<double, 6, 6> &pose_covariance)
inline void setTwistCovariance(const Eigen::Matrix<double, 6, 6> &twist_covariance)
inline void set_T_UTM_I(const aslam::Transformation &T_UTM_I)
inline void set_T_UTM_B(const aslam::Transformation &T_UTM_B)
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