msceqf::ZeroVelocityUpdater Class Reference

Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter. More...

#include <zero_velocity_updater.hpp>

Public Member Functions
	ZeroVelocityUpdater (const ZeroVelocityUpdaterOptions &opts, const Checker &checker)
	Zero velocity updater constructor.
void	setMotion ()
	Set motion flag indicating that we are not in the static phase at the beginning but we have moved.
void	setMeasurement (const SE23 &y)
	Set the static extended pose measurement.
bool	isActive (const Tracks &tracks)
	Check whether the zero velocity updater is active.
bool	zvUpdate (MSCEqFState &X, const SystemState &xi0) const
	Perform a zero velocity update.

Detailed Description

Zero velocity updater class. This class implements the Equivariant Zero Velocity Update (ZVU) of the MSCEqF filter.

Constructor & Destructor Documentation

ZeroVelocityUpdater()

msceqf::ZeroVelocityUpdater::ZeroVelocityUpdater	(	const ZeroVelocityUpdaterOptions &	opts,
		const Checker &	checker )

Zero velocity updater constructor.

Parameters

opts	Zero velocity updater options
checker	Refernece to the MSCEqF checker

Member Function Documentation

isActive()

bool msceqf::ZeroVelocityUpdater::isActive ( const Tracks & tracks )

nodiscard

Check whether the zero velocity updater is active.

Parameters

tracks

tracks up to date used for disparity check

Returns

true if the zero velocity updater is active, and therefore the platform is in static phase, false otherwise

setMeasurement()

void msceqf::ZeroVelocityUpdater::setMeasurement

(

const SE23 &

y

)

Set the static extended pose measurement.

Parameters

y	static extended pose

zvUpdate()

bool msceqf::ZeroVelocityUpdater::zvUpdate ( MSCEqFState & X, const SystemState & xi0 ) const

nodiscard

Perform a zero velocity update.

Parameters

X	MSCEqF state
xi0	Origin state

Returns

always true, when zero velocity update has been performed

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

• include/msceqf/filter/updater/zero_velocity_updater.hpp