mars::PoseSensorStateType Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/pose/pose_sensor_state_type.h>

Inheritance diagram for mars::PoseSensorStateType:

Collaboration diagram for mars::PoseSensorStateType:

Public Member Functions
	PoseSensorStateType ()
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_ip_
Eigen::Quaternion< double >	q_ip_
Public Attributes inherited from mars::BaseStates
int	cov_size_

Constructor & Destructor Documentation

PoseSensorStateType()

mars::PoseSensorStateType::PoseSensorStateType ( )

inline

                        : BaseStates(6)  // size of covariance
  {
    p_ip_.setZero();
    q_ip_.setIdentity();
  }

Member Function Documentation

get_csv_state_header_string()

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

inlinestatic

  {
    std::stringstream os;
    os << "t, ";
    os << "p_ip_x, p_ip_y, p_ip_z, ";
    os << "q_ip_w, q_ip_x, q_ip_y, q_ip_z";
 
    return os.str();
  }

to_csv_string()

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

inline

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

Member Data Documentation

p_ip_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::PoseSensorStateType::p_ip_

q_ip_

Eigen::Quaternion<double> mars::PoseSensorStateType::q_ip_

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

• pose_sensor_state_type.h