NAV::InertialPreIntegrator::PVAState< T > Struct Template Reference

Position, velocity and attitude state. More...

Data Fields
Eigen::Quaternion< T >	attitude
	IMU attitude (e_Quat_b / n_Quat_b)
Eigen::Vector3< T >	position
	IMU position (e_pos / lla_pos)
Eigen::Vector3< T >	velocity
	IMU velocity (e_vel / n_vel)

Detailed Description

template<typename T>
struct NAV::InertialPreIntegrator::PVAState< T >

Position, velocity and attitude state.

Definition at line 83 of file InertialPreIntegrator.hpp.

Field Documentation

attitude

template<typename T>

Eigen::Quaternion<T> NAV::InertialPreIntegrator::PVAState< T >::attitude

IMU attitude (e_Quat_b / n_Quat_b)

Definition at line 87 of file InertialPreIntegrator.hpp.

position

template<typename T>

Eigen::Vector3<T> NAV::InertialPreIntegrator::PVAState< T >::position

IMU position (e_pos / lla_pos)

Definition at line 85 of file InertialPreIntegrator.hpp.

velocity

template<typename T>

Eigen::Vector3<T> NAV::InertialPreIntegrator::PVAState< T >::velocity

IMU velocity (e_vel / n_vel)

Definition at line 86 of file InertialPreIntegrator.hpp.

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

• /home/runner/work/INSTINCT/INSTINCT/src/Navigation/INS/InertialPreIntegrator.hpp