Container holding the state of a MAV: position, velocity, attitude and angular velocity. In addition, holds the acceleration expressed in body coordinates, which is what the accelerometer usually measures. More...

#include <eigen_mav_msgs.h>

Public Types
typedef std::vector < EigenMavState, Eigen::aligned_allocator < EigenMavState > >	Vector
Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EigenMavState ()
	Initializes all members to zero / identity.
	EigenMavState (const Eigen::Vector3d &position_W, const Eigen::Vector3d &velocity_W, const Eigen::Vector3d &acceleration_B, const Eigen::Quaterniond &orientation_W_B, const Eigen::Vector3d &angular_velocity_B, const Eigen::Vector3d &angular_acceleration_B)
std::string	toString () const
Public Attributes
Eigen::Vector3d	acceleration_B
Eigen::Vector3d	angular_acceleration_B
Eigen::Vector3d	angular_velocity_B
Eigen::Quaterniond	orientation_W_B
Eigen::Vector3d	position_W
Eigen::Vector3d	velocity_W

Detailed Description

Container holding the state of a MAV: position, velocity, attitude and angular velocity. In addition, holds the acceleration expressed in body coordinates, which is what the accelerometer usually measures.

Definition at line 108 of file eigen_mav_msgs.h.

Member Typedef Documentation

typedef std::vector<EigenMavState, Eigen::aligned_allocator<EigenMavState> > mav_msgs::EigenMavState::Vector

Definition at line 111 of file eigen_mav_msgs.h.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mav_msgs::EigenMavState::EigenMavState ( ) [inline]

Initializes all members to zero / identity.

Definition at line 115 of file eigen_mav_msgs.h.

mav_msgs::EigenMavState::EigenMavState	(	const Eigen::Vector3d &	position_W,
		const Eigen::Vector3d &	velocity_W,
		const Eigen::Vector3d &	acceleration_B,
		const Eigen::Quaterniond &	orientation_W_B,
		const Eigen::Vector3d &	angular_velocity_B,
		const Eigen::Vector3d &	angular_acceleration_B
	)		`[inline]`