gtsam::abc_eqf_lib::State< N > Class Template Reference

State class representing the state of the Biased Attitude System. More...

#include <ABC.h>

Public Member Functions
Vector	localCoordinates (const State< N > &other) const
State	retract (const Vector &v) const
	State (const Rot3 &R=Rot3::Identity(), const Vector3 &b=Vector3::Zero(), const std::array< Rot3, N > &S=std::array< Rot3, N >{})
	Constructor. More...

Static Public Member Functions
static State	identity ()
	Identity function. More...

Public Attributes
Vector3	b
Rot3	R
std::array< Rot3, N >	S

Detailed Description

template<size_t N>
class gtsam::abc_eqf_lib::State< N >

State class representing the state of the Biased Attitude System.

Definition at line 128 of file ABC.h.

Constructor & Destructor Documentation

State()

template<size_t N>

gtsam::abc_eqf_lib::State< N >::State ( const Rot3 &  R = Rot3::Identity(), const Vector3 &  b = Vector3::Zero(), const std::array< Rot3, N > &  S = std::array<Rot3, N>{}  )

inline

Constructor.

Definition at line 135 of file ABC.h.

Member Function Documentation

identity()

template<size_t N>

static State gtsam::abc_eqf_lib::State< N >::identity ( )

inlinestatic

Identity function.

Definition at line 140 of file ABC.h.

localCoordinates()

template<size_t N>

Vector gtsam::abc_eqf_lib::State< N >::localCoordinates ( const State< N > &  other ) const

inline

Compute Local coordinates in the state relative to another state.

Parameters

other

The other state

Returns

Local coordinates in the tangent space

Definition at line 150 of file ABC.h.

retract()

template<size_t N>

State gtsam::abc_eqf_lib::State< N >::retract ( const Vector &  v ) const

inline

Retract from tangent space back to the manifold

Parameters

v	Vector in the tangent space

Returns

New state

Definition at line 172 of file ABC.h.

Member Data Documentation

b

template<size_t N>

Vector3 gtsam::abc_eqf_lib::State< N >::b

Definition at line 131 of file ABC.h.

R

template<size_t N>

Rot3 gtsam::abc_eqf_lib::State< N >::R

Definition at line 130 of file ABC.h.

S

template<size_t N>

std::array<Rot3, N> gtsam::abc_eqf_lib::State< N >::S

Definition at line 132 of file ABC.h.

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

• ABC.h