mars::VisionSensorStateType Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/vision/vision_sensor_state_type.h>

Inheritance diagram for mars::VisionSensorStateType:

Collaboration diagram for mars::VisionSensorStateType:

Public Member Functions
	VisionSensorStateType ()
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_vw_
Eigen::Quaternion< double >	q_vw_
Eigen::Vector3d	p_ic_
Eigen::Quaternion< double >	q_ic_
double	lambda_
Public Attributes inherited from mars::BaseStates
int	cov_size_

Constructor & Destructor Documentation

VisionSensorStateType()

mars::VisionSensorStateType::VisionSensorStateType ( )

inline

                          : BaseStates(13)  // size of covariance
  {
    p_vw_.setZero();      // 3
    q_vw_.setIdentity();  // 4-1
    p_ic_.setZero();      // 3
    q_ic_.setIdentity();  // 4-1
    lambda_ = 1;          // 1
  }

Member Function Documentation

get_csv_state_header_string()

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

inlinestatic

  {
    std::stringstream os;
    os << "t, ";
    os << "p_vw_x, p_vw_y, p_vw_z, ";
    os << "q_vw_w, q_vw_x, q_vw_y, q_vw_z,";
    os << "p_ic_x, p_ic_y, p_ic_z, ";
    os << "q_ic_w, q_ic_x, q_ic_y, q_ic_z,";
    os << "lambda";
 
    return os.str();
  }

to_csv_string()

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

inline

  {
    std::stringstream os;
    os.precision(17);
    os << timestamp;
 
    os << ", " << p_vw_(0) << ", " << p_vw_(1) << ", " << p_vw_(2);
 
    Eigen::Vector4d q_vw = q_vw_.coeffs();  // x y z w
    os << ", " << q_vw(3) << ", " << q_vw(0) << ", " << q_vw(1) << ", " << q_vw(2);
 
    os << ", " << p_ic_(0) << ", " << p_ic_(1) << ", " << p_ic_(2);
 
    Eigen::Vector4d q_ic = q_ic_.coeffs();  // x y z w
    os << ", " << q_ic(3) << ", " << q_ic(0) << ", " << q_ic(1) << ", " << q_ic(2);
 
    os << ", " << lambda_;
 
    return os.str();
  }

Member Data Documentation

p_vw_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::VisionSensorStateType::p_vw_

q_vw_

Eigen::Quaternion<double> mars::VisionSensorStateType::q_vw_

p_ic_

Eigen::Vector3d mars::VisionSensorStateType::p_ic_

q_ic_

Eigen::Quaternion<double> mars::VisionSensorStateType::q_ic_

lambda_

double mars::VisionSensorStateType::lambda_

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

• vision_sensor_state_type.h