calcQCore.h File Reference

#include <Eigen/Eigen>
#include <msf_core/msf_core.h>

Go to the source code of this file.

Functions
template<typename StateSequence_T , typename StateDefinition_T , class Derived , class DerivedQ >
void	calc_QCore (const double dt, const Eigen::Quaternion< double > &q, const Eigen::MatrixBase< Derived > &ew, const Eigen::MatrixBase< Derived > &ea, const Eigen::MatrixBase< Derived > &n_a, const Eigen::MatrixBase< Derived > &n_ba, const Eigen::MatrixBase< Derived > &n_w, const Eigen::MatrixBase< Derived > &n_bw, Eigen::MatrixBase< DerivedQ > &Qd)
	Calculate the observation covariance matrix for the core states. The user has the possibility to set the blocks of Q for user defined states. The EKF core calls the respective user defined function.

Function Documentation

template<typename StateSequence_T , typename StateDefinition_T , class Derived , class DerivedQ >

void calc_QCore	(	const double	dt,
		const Eigen::Quaternion< double > &	q,
		const Eigen::MatrixBase< Derived > &	ew,
		const Eigen::MatrixBase< Derived > &	ea,
		const Eigen::MatrixBase< Derived > &	n_a,
		const Eigen::MatrixBase< Derived > &	n_ba,
		const Eigen::MatrixBase< Derived > &	n_w,
		const Eigen::MatrixBase< Derived > &	n_bw,
		Eigen::MatrixBase< DerivedQ > &	Qd
	)