mars::MagSensorStateType Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/mag/mag_sensor_state_type.h>

Inheritance diagram for mars::MagSensorStateType:

Collaboration diagram for mars::MagSensorStateType:

Public Member Functions
	MagSensorStateType ()
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	mag_
Eigen::Quaterniond	q_im_
Public Attributes inherited from mars::BaseStates
int	cov_size_

Constructor & Destructor Documentation

MagSensorStateType()

mars::MagSensorStateType::MagSensorStateType ( )

inline

                       : BaseStates(6)  // cov size
  {
    mag_.setZero();
    q_im_.setIdentity();
  }

Member Function Documentation

get_csv_state_header_string()

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

inlinestatic

  {
    std::stringstream os;
    os << "t, ";
    os << "mag_w_x, mag_w_y, mag_w_z, ";
    os << "q_im_w, q_im_x, q_im_y, q_im_z";
 
    return os.str();
  }

to_csv_string()

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

inline

to_csv_string export state to single csv string

Parameters

timestamp

Returns

string format [mag q_wi]

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

Member Data Documentation

mag_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::MagSensorStateType::mag_

q_im_

Eigen::Quaterniond mars::MagSensorStateType::q_im_

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

• mag_sensor_state_type.h