struct mola::NavState

Overview

The state returned by NavStateFilter

#include <NavStateFilter.h>

struct NavState
{
    // fields

    mrpt::poses::CPose3DPDFGaussianInf pose;
    mrpt::math::TTwist3D twist;
    mrpt::math::CMatrixDouble66 twist_inv_cov;

    // methods

    std::string asString() const;
};

Fields

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]