Struct FilterState

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_