Variables.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Apr 22, 2012
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_VARIABLES_HPP_
#define INCLUDE_OKVIS_VARIABLES_HPP_

#include <Eigen/Core>

namespace okvis {

  typedef Eigen::Matrix<double,9,1> SpeedAndBias;

  typedef Eigen::Matrix<double,3,1> Speed;

  typedef Eigen::Matrix<double,3,1> GyroBias;
  typedef Eigen::Matrix<double,3,1> AccBias;
  typedef Eigen::Matrix<double,6,1> ImuBias;

  typedef Eigen::Matrix<double,3,1> MagnetometerBias;
  typedef Eigen::Matrix<double,1,1> MagnetometerWorldZBias;

  typedef Eigen::Matrix<double,3,1> Wind;
  typedef Eigen::Matrix<double,1,1> Qff;



} // namespace okvis


#endif /* INCLUDE_OKVIS_VARIABLES_HPP_ */