One instance of the buffered data, corresponding to a particular time stamp. More...

#include <core/processor/motion_buffer.h>

Public Member Functions
	Motion ()=delete

	Motion (const TimeStamp &_ts, SizeEigen _data_size, SizeEigen _delta_size, SizeEigen _cov_size, SizeEigen _calib_size)

	Motion (const TimeStamp &_ts, const Eigen::VectorXd &_data, const Eigen::MatrixXd &_data_cov, const Eigen::VectorXd &_delta, const Eigen::MatrixXd &_delta_cov, const Eigen::VectorXd &_delta_int, const Eigen::MatrixXd &_delta_integr_cov, const Eigen::MatrixXd &_jac_delta, const Eigen::MatrixXd &_jac_delta_int, const Eigen::MatrixXd &_jacobian_calib)

	~Motion ()

Public Attributes
SizeEigen	data_size_

SizeEigen	delta_size_

SizeEigen	cov_size_

SizeEigen	calib_size_

TimeStamp	ts_
	Time stamp. More...

Eigen::VectorXd	data_
	instantaneous motion data More...

Eigen::MatrixXd	data_cov_
	covariance of the instantaneous data More...

Eigen::VectorXd	delta_
	instantaneous motion delta More...

Eigen::MatrixXd	delta_cov_
	covariance of the instantaneous delta More...

Eigen::VectorXd	delta_integr_
	the integrated motion or delta-integral More...

Eigen::MatrixXd	delta_integr_cov_
	covariance of the integrated delta More...

Eigen::MatrixXd	jacobian_delta_
	Jacobian of the integration wrt delta_. More...

Eigen::MatrixXd	jacobian_delta_integr_
	Jacobian of the integration wrt delta_integr_. More...

Eigen::MatrixXd	jacobian_calib_
	Jacobian of delta_integr wrt extra states (TBD by the derived processors) More...

Detailed Description

One instance of the buffered data, corresponding to a particular time stamp.

Constructor & Destructor Documentation

◆ Motion() [1/3]

wolf::Motion::Motion ( )

delete

◆ Motion() [2/3]

wolf::Motion::Motion	(	const TimeStamp &	_ts,
		SizeEigen	_data_size,
		SizeEigen	_delta_size,
		SizeEigen	_cov_size,
		SizeEigen	_calib_size
	)

◆ Motion() [3/3]

wolf::Motion::Motion	(	const TimeStamp &	_ts,
		const Eigen::VectorXd &	_data,
		const Eigen::MatrixXd &	_data_cov,
		const Eigen::VectorXd &	_delta,
		const Eigen::MatrixXd &	_delta_cov,
		const Eigen::VectorXd &	_delta_int,
		const Eigen::MatrixXd &	_delta_integr_cov,
		const Eigen::MatrixXd &	_jac_delta,
		const Eigen::MatrixXd &	_jac_delta_int,
		const Eigen::MatrixXd &	_jacobian_calib
	)

◆ ~Motion()

wolf::Motion::~Motion ( )

Member Data Documentation

◆ calib_size_

SizeEigen wolf::Motion::calib_size_

◆ cov_size_

SizeEigen wolf::Motion::cov_size_

◆ data_

Eigen::VectorXd wolf::Motion::data_

instantaneous motion data

◆ data_cov_

Eigen::MatrixXd wolf::Motion::data_cov_

covariance of the instantaneous data

◆ data_size_

SizeEigen wolf::Motion::data_size_

◆ delta_

Eigen::VectorXd wolf::Motion::delta_

instantaneous motion delta

◆ delta_cov_

Eigen::MatrixXd wolf::Motion::delta_cov_

covariance of the instantaneous delta

◆ delta_integr_

Eigen::VectorXd wolf::Motion::delta_integr_

the integrated motion or delta-integral

◆ delta_integr_cov_

Eigen::MatrixXd wolf::Motion::delta_integr_cov_

covariance of the integrated delta

◆ delta_size_

SizeEigen wolf::Motion::delta_size_

◆ jacobian_calib_

Eigen::MatrixXd wolf::Motion::jacobian_calib_

Jacobian of delta_integr wrt extra states (TBD by the derived processors)

◆ jacobian_delta_

Eigen::MatrixXd wolf::Motion::jacobian_delta_

Jacobian of the integration wrt delta_.

◆ jacobian_delta_integr_

Eigen::MatrixXd wolf::Motion::jacobian_delta_integr_

Jacobian of the integration wrt delta_integr_.

◆ ts_

TimeStamp wolf::Motion::ts_

Time stamp.

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

include/core/processor/motion_buffer.h
src/processor/motion_buffer.cpp

Public Member Functions

Public Attributes