mars_lib 0.1.0.2abe2576fe7f
Modular and Robust Sensor-Fusion
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Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
mars::BodyvelSensorStateType Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/bodyvel/bodyvel_sensor_state_type.h>

+ Inheritance diagram for mars::BodyvelSensorStateType:
+ Collaboration diagram for mars::BodyvelSensorStateType:

Public Member Functions

 BodyvelSensorStateType ()
 
std::string to_csv_string (const double &timestamp) const
 
- Public Member Functions inherited from mars::BaseStates
 BaseStates (int cov_size)
 

Static Public Member Functions

static std::string get_csv_state_header_string ()
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d p_ib_
 
Eigen::Quaternion< double > q_ib_
 
- Public Attributes inherited from mars::BaseStates
int cov_size_
 

Constructor & Destructor Documentation

◆ BodyvelSensorStateType()

mars::BodyvelSensorStateType::BodyvelSensorStateType ( )
inline
29 : BaseStates(6) // size of covariance
30 {
31 p_ib_.setZero();
32 q_ib_.setIdentity();
33 }
BaseStates(int cov_size)
Definition base_states.h:27
Eigen::Quaternion< double > q_ib_
Definition bodyvel_sensor_state_type.h:27
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d p_ib_
Definition bodyvel_sensor_state_type.h:26

Member Function Documentation

◆ get_csv_state_header_string()

static std::string mars::BodyvelSensorStateType::get_csv_state_header_string ( )
inlinestatic
36 {
37 std::stringstream os;
38 os << "t, ";
39 os << "p_ib_x, p_ib_y, p_ib_z, ";
40 os << "q_ib_w, q_ib_x, q_ib_y, q_ib_z";
41
42 return os.str();
43 }

◆ to_csv_string()

std::string mars::BodyvelSensorStateType::to_csv_string ( const double &  timestamp) const
inline
46 {
47 std::stringstream os;
48 os.precision(17);
49 os << timestamp;
50
51 os << ", " << p_ib_(0) << ", " << p_ib_(1) << ", " << p_ib_(2);
52 os << ", " << q_ib_.w() << ", " << q_ib_.x() << ", " << q_ib_.y() << ", " << q_ib_.z();
53
54 return os.str();
55 }

Member Data Documentation

◆ p_ib_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::BodyvelSensorStateType::p_ib_

◆ q_ib_

Eigen::Quaternion<double> mars::BodyvelSensorStateType::q_ib_

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