msceqf::MSCEqFSOT3State Struct Reference

This struct represent the Scaled Orthogonal Transforms state of the MSCEqF. More...

#include <state_elements.hpp>

Inheritance diagram for msceqf::MSCEqFSOT3State:

Collaboration diagram for msceqf::MSCEqFSOT3State:

Public Member Functions
	MSCEqFSOT3State ()=delete
	Deleted default constructor.
	MSCEqFSOT3State (const uint &idx)
	Construct an identity MSCEqFSOT3State object.
void	updateRight (const VectorX &delta) override
	Update the Scaled Orthogonal Transforms element of the state by right multiplication.
void	updateLeft (const VectorX &delta) override
	Update the Scaled Orthogonal Transforms element of the state by left multiplication.
std::unique_ptr< MSCEqFStateElement >	clone () const override
	Clone the Scaled Orthogonal Transforms (SOT3) 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
SOT3	Q_
	The Scaled Orthogonal Transforms 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 Scaled Orthogonal Transforms state of the MSCEqF.

Constructor & Destructor Documentation

MSCEqFSOT3State()

msceqf::MSCEqFSOT3State::MSCEqFSOT3State ( const uint & idx )

inline

Construct an identity MSCEqFSOT3State object.

Parameters

idx	Starting index of the variable in the covariance

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Member Function Documentation

clone()

std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFSOT3State::clone ( ) const

inlineoverridevirtual

Clone the Scaled Orthogonal Transforms (SOT3) element of state of the MSCEqF.

Returns

Clone of the SOT3 element

Implements msceqf::MSCEqFStateElement.

updateLeft()

void msceqf::MSCEqFSOT3State::updateLeft ( const VectorX & delta )

inlineoverridevirtual

Update the Scaled Orthogonal Transforms 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::MSCEqFSOT3State::updateRight ( const VectorX & delta )

inlineoverridevirtual

Update the Scaled Orthogonal Transforms 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