NASA Astrobee Robot Software  0.16.7
Flight software for the Astrobee robot operating inside the International Space Station.
localization_common::CombinedNavStateCovariances Class Reference

#include <combined_nav_state_covariances.h>

Public Member Functions

 CombinedNavStateCovariances (const Eigen::Matrix< double, 6, 6 > &pose_covariance, const Eigen::Matrix3d &velocity_covariance, const Eigen::Matrix< double, 6, 6 > &bias_covariance)
 
 CombinedNavStateCovariances (const Eigen::Vector3d &position_variances, const Eigen::Vector3d &orientation_variances, const Eigen::Vector3d &velocity_variances, const Eigen::Vector3d &accelerometer_bias_variances, const Eigen::Vector3d &gyro_bias_variances)
 
 CombinedNavStateCovariances ()=default
 
Confidence PoseConfidence (const double position_log_det_threshold, const double orientation_log_det_threshold) const
 
const Eigen::Matrix< double, 6, 6 > & pose_covariance () const
 
const Eigen::Matrix3d & velocity_covariance () const
 
const Eigen::Matrix< double, 6, 6 > & bias_covariance () const
 
Eigen::Vector3d position_variances () const
 
Eigen::Vector3d orientation_variances () const
 
Eigen::Vector3d velocity_variances () const
 
Eigen::Vector3d gyro_bias_variances () const
 
Eigen::Vector3d accel_bias_variances () const
 
double LogDeterminantPositionCovariance () const
 
double LogDeterminantOrientationCovariance () const
 

Constructor & Destructor Documentation

◆ CombinedNavStateCovariances() [1/3]

localization_common::CombinedNavStateCovariances::CombinedNavStateCovariances ( const Eigen::Matrix< double, 6, 6 > &  pose_covariance,
const Eigen::Matrix3d &  velocity_covariance,
const Eigen::Matrix< double, 6, 6 > &  bias_covariance 
)

◆ CombinedNavStateCovariances() [2/3]

localization_common::CombinedNavStateCovariances::CombinedNavStateCovariances ( const Eigen::Vector3d &  position_variances,
const Eigen::Vector3d &  orientation_variances,
const Eigen::Vector3d &  velocity_variances,
const Eigen::Vector3d &  accelerometer_bias_variances,
const Eigen::Vector3d &  gyro_bias_variances 
)

◆ CombinedNavStateCovariances() [3/3]

localization_common::CombinedNavStateCovariances::CombinedNavStateCovariances ( )
default

Member Function Documentation

◆ accel_bias_variances()

Eigen::Vector3d localization_common::CombinedNavStateCovariances::accel_bias_variances ( ) const
inline

◆ bias_covariance()

const Eigen::Matrix<double, 6, 6>& localization_common::CombinedNavStateCovariances::bias_covariance ( ) const
inline

◆ gyro_bias_variances()

Eigen::Vector3d localization_common::CombinedNavStateCovariances::gyro_bias_variances ( ) const
inline

◆ LogDeterminantOrientationCovariance()

double localization_common::CombinedNavStateCovariances::LogDeterminantOrientationCovariance ( ) const

◆ LogDeterminantPositionCovariance()

double localization_common::CombinedNavStateCovariances::LogDeterminantPositionCovariance ( ) const

◆ orientation_variances()

Eigen::Vector3d localization_common::CombinedNavStateCovariances::orientation_variances ( ) const
inline

◆ pose_covariance()

const Eigen::Matrix<double, 6, 6>& localization_common::CombinedNavStateCovariances::pose_covariance ( ) const
inline

◆ PoseConfidence()

Confidence localization_common::CombinedNavStateCovariances::PoseConfidence ( const double  position_log_det_threshold,
const double  orientation_log_det_threshold 
) const

◆ position_variances()

Eigen::Vector3d localization_common::CombinedNavStateCovariances::position_variances ( ) const
inline

◆ velocity_covariance()

const Eigen::Matrix3d& localization_common::CombinedNavStateCovariances::velocity_covariance ( ) const
inline

◆ velocity_variances()

Eigen::Vector3d localization_common::CombinedNavStateCovariances::velocity_variances ( ) const
inline

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