Struct NavState

• Defined in File NavStateFilter.h

Struct Documentation

struct NavState

The state returned by NavStateFilter

Public Functions

NavState() = default

~NavState() = default

std::string asString() const

Public Members

mrpt::poses::CPose3DPDFGaussianInf pose

SE(3) pose estimation, including information matrix, given in the requested frame_id.

mrpt::math::TTwist3D twist

Linear and angular velocity estimation, given in the local vehicle frame.

mrpt::math::CMatrixDouble66 twist_inv_cov

Inverse covariance matrix (information) of twist, with variable order in the matrix: [vx vy vz wx wy wz]