mars::GpsVelSensorStateType Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/gps_w_vel/gps_w_vel_sensor_state_type.h>

Inheritance diagram for mars::GpsVelSensorStateType:

Collaboration diagram for mars::GpsVelSensorStateType:

Public Member Functions
	GpsVelSensorStateType ()
std::string	to_csv_string (const double &timestamp) const
	to_csv_string export state to single csv string
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_ig_
Eigen::Vector3d	p_gw_w_
Eigen::Quaterniond	q_gw_w_
Public Attributes inherited from mars::BaseStates
int	cov_size_

Constructor & Destructor Documentation

GpsVelSensorStateType()

mars::GpsVelSensorStateType::GpsVelSensorStateType ( )

inline

                          : BaseStates(9)  // cov size
  {
    p_ig_.setZero();
    p_gw_w_.setZero();
    q_gw_w_.setIdentity();
  }

Member Function Documentation

get_csv_state_header_string()

static std::string mars::GpsVelSensorStateType::get_csv_state_header_string ( )

inlinestatic

  {
    std::stringstream os;
    os << "t, ";
    os << "p_ig_x, p_ig_y, p_ig_z, ";
    os << "p_gw_w_x, p_gw_w_y, p_gw_w_z, ";
    os << "q_gw_w_w, q_gw_w_x, q_gw_w_y, q_gw_w_z";
 
    return os.str();
  }

to_csv_string()

std::string mars::GpsVelSensorStateType::to_csv_string ( const double &  timestamp ) const

inline

to_csv_string export state to single csv string

Parameters

timestamp

Returns

string format [p_ig p_gw_w q_gw_w]

  {
    std::stringstream os;
    os.precision(17);
    os << timestamp;
 
    os << ", " << p_ig_(0) << ", " << p_ig_(1) << ", " << p_ig_(2);
    os << ", " << p_gw_w_(0) << ", " << p_gw_w_(1) << ", " << p_gw_w_(2);
    Eigen::Vector4d q_gw_w = q_gw_w_.coeffs();  // x y z w
    os << ", " << q_gw_w(3) << ", " << q_gw_w(0) << ", " << q_gw_w(1) << ", " << q_gw_w(2);
 
    return os.str();
  }

Member Data Documentation

p_ig_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::GpsVelSensorStateType::p_ig_

p_gw_w_

Eigen::Vector3d mars::GpsVelSensorStateType::p_gw_w_

q_gw_w_

Eigen::Quaterniond mars::GpsVelSensorStateType::q_gw_w_

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

• gps_w_vel_sensor_state_type.h