msceqf::Symmetry Class Reference

Static Public Member Functions
static const SystemState	phi (const MSCEqFState &X, const SystemState &xi)
	Implement the right group action phi of the symmetry group, acting on the homogenous space (phi(X, xi)).
static const SystemState::SystemStateAlgebraMap	lift (const SystemState &xi, const Imu &u)
	Implement the lift function. Lift the actual dynamics onto the symmetry group.
static const MatrixX	curvatureCorrection (const MSCEqFState &X, const VectorX &inn)
	Return the Gamma matrix for the reset / curvature correction.

Static Public Attributes
static const Matrix5	D
	The D matrix.

Member Function Documentation

curvatureCorrection()

const MatrixX msceqf::Symmetry::curvatureCorrection ( const MSCEqFState & X, const VectorX & inn )

staticnodiscard

Return the Gamma matrix for the reset / curvature correction.

Parameters

X	MSCEqF state (symmetry group element)
inn	Innovatiation vector

Returns

Gamma matrix

lift()

const SystemState::SystemStateAlgebraMap msceqf::Symmetry::lift ( const SystemState & xi, const Imu & u )

staticnodiscard

Implement the lift function. Lift the actual dynamics onto the symmetry group.

Parameters

xi	System state (homogenous space element)
u	Input (Imu)

Returns

Input for the lifted system (Symmetry group Lie algebra element)

phi()

const SystemState msceqf::Symmetry::phi ( const MSCEqFState & X, const SystemState & xi )

staticnodiscard

Implement the right group action phi of the symmetry group, acting on the homogenous space (phi(X, xi)).

Parameters

X	MSCEqF state (symmetry group element)
xi	System state (homogenous space element)

Returns

System state (homogenous space element)

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

• include/msceqf/symmetry/symmetry.hpp