AttitudeOutputs.hpp

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <cstdint>
#include <util/Eigen.hpp>
 
#include <vn/types.h>
#include "util/Vendor/VectorNav/VectorNavTypes.hpp"
 
namespace NAV::vendor::vectornav
{
struct AttitudeOutputs
{
    vn::protocol::uart::AttitudeGroup attitudeField = vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE;
 
    VpeStatus vpeStatus{};
 
    Eigen::Vector3f ypr{};
 
    Eigen::Quaternionf qtn{};
 
    Eigen::Matrix3f dcm{};
 
    Eigen::Vector3f magNed{};
 
    Eigen::Vector3f accelNed{};
 
    Eigen::Vector3f linearAccelBody{};
 
    Eigen::Vector3f linearAccelNed{};
 
    Eigen::Vector3f yprU{};
};
 
} // namespace NAV::vendor::vectornav