11 #ifndef VISIONSENSORSTATETYPE_H
12 #define VISIONSENSORSTATETYPE_H
15 #include <Eigen/Dense>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25 Eigen::Quaternion<double>
q_vw_;
27 Eigen::Quaternion<double>
q_ic_;
43 os <<
"p_vw_x, p_vw_y, p_vw_z, ";
44 os <<
"q_vw_w, q_vw_x, q_vw_y, q_vw_z,";
45 os <<
"p_ic_x, p_ic_y, p_ic_z, ";
46 os <<
"q_ic_w, q_ic_x, q_ic_y, q_ic_z,";
60 Eigen::Vector4d q_vw =
q_vw_.coeffs();
61 os <<
", " << q_vw(3) <<
", " << q_vw(0) <<
", " << q_vw(1) <<
", " << q_vw(2);
65 Eigen::Vector4d q_ic =
q_ic_.coeffs();
66 os <<
", " << q_ic(3) <<
", " << q_ic(0) <<
", " << q_ic(1) <<
", " << q_ic(2);
The BaseStates class is used to ensure that all sensor data classes define a covariance size for the ...
Definition: base_states.h:23
Definition: vision_sensor_state_type.h:20
double lambda_
Definition: vision_sensor_state_type.h:28
Eigen::Quaternion< double > q_vw_
Definition: vision_sensor_state_type.h:25
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d p_vw_
Definition: vision_sensor_state_type.h:24
Eigen::Quaternion< double > q_ic_
Definition: vision_sensor_state_type.h:27
std::string to_csv_string(const double ×tamp) const
Definition: vision_sensor_state_type.h:52
static std::string get_csv_state_header_string()
Definition: vision_sensor_state_type.h:39
VisionSensorStateType()
Definition: vision_sensor_state_type.h:30
Eigen::Vector3d p_ic_
Definition: vision_sensor_state_type.h:26