msceqf::MSCEqFSDBState Struct Reference

This struct represent the Semi Direct bias state of the MSCEqF. More...

#include <state_elements.hpp>

Inheritance diagram for msceqf::MSCEqFSDBState:

Collaboration diagram for msceqf::MSCEqFSDBState:

Public Member Functions
	MSCEqFSDBState ()=delete
	Deleted default constructor.
	MSCEqFSDBState (const uint &idx)
	Construct an identity MSCEqFSDBState object.
void	updateRight (const VectorX &delta) override
	Update the Semi Direct Bias element of the state by right multiplication.
void	updateLeft (const VectorX &delta) override
	Update the Semi Direct Bias element of the state by left multiplication.
std::unique_ptr< MSCEqFStateElement >	clone () const override
	Clone the Semi Direct bias (SDB) 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
SDB	Dd_
	The Semi Direct Bias 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
MSCEqFStateElement &	operator= (const MSCEqFStateElement &)=default
MSCEqFStateElement &	operator= (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 Semi Direct bias state of the MSCEqF.

Constructor & Destructor Documentation

MSCEqFSDBState()

msceqf::MSCEqFSDBState::MSCEqFSDBState ( const uint & idx )

inline

Construct an identity MSCEqFSDBState object.

Parameters

idx	Starting index of the variable in the covariance

Member Function Documentation

clone()

std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFSDBState::clone ( ) const

inlineoverridevirtual

Clone the Semi Direct bias (SDB) element of state of the MSCEqF.

Returns

Clone of the SDB element

Implements msceqf::MSCEqFStateElement.

updateLeft()

void msceqf::MSCEqFSDBState::updateLeft ( const VectorX & delta )

inlineoverridevirtual

Update the Semi Direct Bias element of the state by left multiplication.

Parameters

delta

Delta vector to update the state element with on the left side

Implements msceqf::MSCEqFStateElement.

updateRight()

void msceqf::MSCEqFSDBState::updateRight ( const VectorX & delta )

inlineoverridevirtual

Update the Semi Direct Bias element of the state by right multiplication.

Parameters

delta

Delta vector to update the state element with on the right side

Implements msceqf::MSCEqFStateElement.

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

• include/msceqf/state/state_elements.hpp