MSCEqF 1.0
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msceqf::MSCEqFInState Struct Referencefinal

This struct represent the Intrinsic state of the MSCEqF. More...

#include <state_elements.hpp>

Inheritance diagram for msceqf::MSCEqFInState:
Collaboration diagram for msceqf::MSCEqFInState:

Public Member Functions

 MSCEqFInState ()=delete
 Deleted default constructor.
 
 MSCEqFInState (const uint &idx)
 Construct an identity MSCEqFInState object.
 
void updateRight (const VectorX &delta) override
 Update the Intrinsic element of the state by right multiplication.
 
void updateLeft (const VectorX &delta) override
 Update the Intrinsic element of the state by left multiplication.
 
std::unique_ptr< MSCEqFStateElementclone () const override
 Clone the Special Intrinsic (In) element of state of the MSCEqF.
 
- Public Member Functions inherited from msceqf::MSCEqFStateElement
const uint & getIndex ()
 Get the starting index of the state element in the residual, and in the covariance.
 
const uint & getDof ()
 Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
 
void updateIndex (const uint &new_idx)
 Update index.
 

Public Attributes

In L_
 The Intrinsic element of the state.
 

Additional Inherited Members

- Protected Member Functions inherited from msceqf::MSCEqFStateElement
 MSCEqFStateElement ()=delete
 Rule of Five.
 
 MSCEqFStateElement (const MSCEqFStateElement &)=default
 
 MSCEqFStateElement (MSCEqFStateElement &&)=default
 
MSCEqFStateElementoperator= (const MSCEqFStateElement &)=default
 
MSCEqFStateElementoperator= (MSCEqFStateElement &&)=default
 
 MSCEqFStateElement (const uint &idx, const uint &dof)
 Construct a MSCEqFStateElement object.
 
- Protected Attributes inherited from msceqf::MSCEqFStateElement
uint idx_
 Starting index of the element in the residual, and in the covariance.
 
uint dof_
 Degrees of freedom of the element (dimension of relative covariance and residual block)
 

Detailed Description

This struct represent the Intrinsic state of the MSCEqF.

Constructor & Destructor Documentation

◆ MSCEqFInState()

msceqf::MSCEqFInState::MSCEqFInState ( const uint & idx)
inline

Construct an identity MSCEqFInState object.

Parameters
idxStarting index of the variable in the covariance

Member Function Documentation

◆ clone()

std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFInState::clone ( ) const
inlineoverridevirtual

Clone the Special Intrinsic (In) element of state of the MSCEqF.

Returns
Clone of the In element

Implements msceqf::MSCEqFStateElement.

◆ updateLeft()

void msceqf::MSCEqFInState::updateLeft ( const VectorX & delta)
inlineoverridevirtual

Update the Intrinsic element of the state by left multiplication.

Parameters
deltaDelta vector to update the state element with on the left side

Implements msceqf::MSCEqFStateElement.

◆ updateRight()

void msceqf::MSCEqFInState::updateRight ( const VectorX & delta)
inlineoverridevirtual

Update the Intrinsic element of the state by right multiplication.

Parameters
deltaDelta vector to update the state element with on the right side

Implements msceqf::MSCEqFStateElement.


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