Struct inertialsim::sensors::InternalPose

ClassList > inertialsim > sensors > InternalPose

Internal pose state structure.

• #include <ins.h>

Public Attributes

Type	Name
RotationMatrix	R Rotation matrices.
Eigen::Vector3d	a Specific forces (3xN for real-time mode).
geodesy::CoordinateSystem	frame = geodesy::CoordinateSystem::LOCAL
Eigen::Vector3d	p Positions (3xN).
std::optional< Timestamps >	time
Eigen::Vector3d	v Velocities (3xN).
Eigen::Vector3d	w Angular rates (3xN for real-time mode).

Public Attributes Documentation

variable R

Rotation matrices.

RotationMatrix inertialsim::sensors::InternalPose::R;

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variable a

Specific forces (3xN for real-time mode).

Eigen::Vector3d inertialsim::sensors::InternalPose::a;

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variable frame

geodesy::CoordinateSystem inertialsim::sensors::InternalPose::frame;

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variable p

Positions (3xN).

Eigen::Vector3d inertialsim::sensors::InternalPose::p;

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variable time

std::optional<Timestamps> inertialsim::sensors::InternalPose::time;

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variable v

Velocities (3xN).

Eigen::Vector3d inertialsim::sensors::InternalPose::v;

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variable w

Angular rates (3xN for real-time mode).

Eigen::Vector3d inertialsim::sensors::InternalPose::w;

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The documentation for this class was generated from the following file cpp/include/inertialsim/sensors/ins.h