msceqf::Propagator Class Reference

Public Types
using	ImuBuffer = std::deque<Imu>
	The Imu measurement buffer.

Public Member Functions
	Propagator (const PropagatorOptions &opts)
	Construct a Propagator object given the options.
void	insertImu (MSCEqFState &X, const SystemState &xi0, const Imu &imu, fp &timestamp)
	insert a new IMU measurement into the imu buffer, if the given IMU measurement has a grater timestamp than the last measurement in the buffer.
bool	propagate (MSCEqFState &X, const SystemState &xi0, fp &timestamp, const fp &new_timestamp)
	This function implements the mean and covariance propagation from timestamp to new_timestamp for the MSCEqF.

Constructor & Destructor Documentation

Propagator()

msceqf::Propagator::Propagator

(

const PropagatorOptions &

opts

)

Construct a Propagator object given the options.

Parameters

opts

Member Function Documentation

insertImu()

void msceqf::Propagator::insertImu	(	MSCEqFState &	X,
		const SystemState &	xi0,
		const Imu &	imu,
		fp &	timestamp )

insert a new IMU measurement into the imu buffer, if the given IMU measurement has a grater timestamp than the last measurement in the buffer.

Parameters

X	Actual state estimate
xi0	Origin
imu	IMU measurement
timestamp	The actual timestamp. If a propagation is triggered than the timestamp is updated

Note

This function triggers a propagation if the imu buffer reaches its max size. In such case all the entries of the imu buffer except the last one are deleted to avoid unbounded memory growth.

propagate()

bool msceqf::Propagator::propagate	(	MSCEqFState &	X,
		const SystemState &	xi0,
		fp &	timestamp,
		const fp &	new_timestamp )

This function implements the mean and covariance propagation from timestamp to new_timestamp for the MSCEqF.

Parameters

X	Actual state estimate
xi0	Origin
timestamp	Integration period start time (actual state timestamp). This will be modified by the propagation
new_timestamp	Integration period end time (new state timestamp)

Returns

true if propagation succeeded, false otherwise

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

• include/msceqf/filter/propagator/propagator.hpp