Class ViNodeState¶
Defined in File vio-types.h
Inheritance Relationships¶
Derived Type¶
public vio::ViNodeStateAndCovariance(Class ViNodeStateAndCovariance)
Class Documentation¶
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class
vio::ViNodeState¶ The state of a ViNode (pose, velocity and bias).
Subclassed by vio::ViNodeStateAndCovariance
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
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ViNodeState
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inline explicit