msceqf::MSCEqF Class Reference

Public Member Functions
	MSCEqF (const std::string &params_filepath)
	MSCEqF Constructor.
void	processMeasurement (const Imu &meas)
	Process IMU measurement.
void	processMeasurement (Camera &meas)
	Process camera measurement.
void	processMeasurement (TriangulatedFeatures &meas)
	Process triangulated features measurement.
const MSCEqFOptions &	options () const
	Get a constant reference to the MSCEqF options.
const StateOptions &	stateOptions () const
	Get a constant reference to the MSCEqF state options.
const MatrixX &	covariance () const
	Get a constant reference to the covariance matrix of the MSCEqF state.
const MatrixX	coreCovariance () const
	Get the covariance of the navigation states (D, delta)
const SystemState &	stateEstimate () const
	Get a constant reference to the estimated state.
const SystemState &	stateOrigin () const
	Get a constant reference to the origin state.
void	setGivenOrigin (const SE23 &T0, const Vector6 &b0, const fp &timestamp)
	Set origin xi0 with given state programatically.
const cv::Mat3b	imageWithTracks (const Camera &cam) const
	Get the processed image with overlayed tracks.
void	visualizeImageWithTracks (const Camera &cam) const
	Visualize the processed image with overlayed tracks.
const bool &	isInit () const
	Check if the filter is initialized.
const bool &	zvuPerformed () const
	Check if a zero velocity update has been performed.

Constructor & Destructor Documentation

MSCEqF()

msceqf::MSCEqF::MSCEqF

(

const std::string &

params_filepath

)

MSCEqF Constructor.

Parameters

params_filepath

filepath of the parameter file to be parsed

Member Function Documentation

coreCovariance()

const MatrixX msceqf::MSCEqF::coreCovariance

(

)

const

Get the covariance of the navigation states (D, delta)

Returns

Covariance matrix of the navigation states

covariance()

const MatrixX & msceqf::MSCEqF::covariance

(

)

const

Get a constant reference to the covariance matrix of the MSCEqF state.

Returns

Covariance matrix

imageWithTracks()

const cv::Mat3b msceqf::MSCEqF::imageWithTracks

(

const Camera &

cam

)

const

Get the processed image with overlayed tracks.

Returns

OpenCV matrix representing the image with overlayed tracks

isInit()

const bool & msceqf::MSCEqF::isInit ( ) const

nodiscard

Check if the filter is initialized.

Returns

true if the filter is initialized, false otherwise

options()

const MSCEqFOptions & msceqf::MSCEqF::options

(

)

const

Get a constant reference to the MSCEqF options.

Returns

Options

processMeasurement() [1/3]

void msceqf::MSCEqF::processMeasurement ( Camera & meas )

inline

Process camera measurement.

Parameters

meas	Camera measurement

processMeasurement() [2/3]

void msceqf::MSCEqF::processMeasurement ( const Imu & meas )

inline

Process IMU measurement.

Parameters

meas	IMU measurement

processMeasurement() [3/3]

void msceqf::MSCEqF::processMeasurement ( TriangulatedFeatures & meas )

inline

Process triangulated features measurement.

Parameters

meas	Triangulated features measurement

setGivenOrigin()

void msceqf::MSCEqF::setGivenOrigin	(	const SE23 &	T0,
		const Vector6 &	b0,
		const fp &	timestamp )

Set origin xi0 with given state programatically.

Parameters

T0	Origin extended pose
b0	Origin bias
timestamp	initial timestamp

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stateEstimate()

const SystemState & msceqf::MSCEqF::stateEstimate

(

)

const

Get a constant reference to the estimated state.

Returns

System state (homogeneous space element) reperesenting the state estimate

stateOptions()

const StateOptions & msceqf::MSCEqF::stateOptions

(

)

const

Get a constant reference to the MSCEqF state options.

Returns

State options

stateOrigin()

const SystemState & msceqf::MSCEqF::stateOrigin

(

)

const

Get a constant reference to the origin state.

Returns

System state (homogeneous space element) reperesenting the state origin

visualizeImageWithTracks()

void msceqf::MSCEqF::visualizeImageWithTracks

(

const Camera &

cam

)

const

Visualize the processed image with overlayed tracks.

Parameters

cam	Camera measurement

zvuPerformed()

const bool & msceqf::MSCEqF::zvuPerformed ( ) const

nodiscard

Check if a zero velocity update has been performed.

Returns

true if the a zero velocity update has been performed, false otherwise

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The documentation for this class was generated from the following file:

• include/msceqf/msceqf.hpp