Struct FilterState¶

Defined in File filter-base.h

Struct Documentation¶

struct maplab::FilterState¶

Structure used for storing and comparing filter states.

This structure is useful when higher-level classes need to remember filter history. Measurement units are assumed to be in meters and radians. Times are real-valued and measured in seconds.

Public Functions

inline FilterState()¶

Public Members

int64_t lastMeasurementTime_¶

Eigen::VectorXd state_¶

Eigen::MatrixXd estimateErrorCovariance_¶