StateEstimate< T > Struct Template Reference

#include <StateEstimatorContainer.h>

Inheritance diagram for StateEstimate< T >:

Collaboration diagram for StateEstimate< T >:

Public Member Functions
void	setLcm (state_estimator_lcmt &lcm_data)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec4< T >	contactEstimate
Vec3< T >	position
Vec3< T >	vBody
Quat< T >	orientation
Vec3< T >	omegaBody
RotMat< T >	rBody
Vec3< T >	rpy
Vec3< T >	omegaWorld
Vec3< T >	vWorld
Vec3< T >	aBody
Vec3< T >	aWorld

Detailed Description

template<typename T>
struct StateEstimate< T >

Result of state estimation

Definition at line 23 of file StateEstimatorContainer.h.

Member Function Documentation

template<typename T>

void StateEstimate< T >::setLcm ( state_estimator_lcmt &  lcm_data )

inline

Definition at line 37 of file StateEstimatorContainer.h.

                                              {
    for(int i = 0; i < 3; i++) {
      lcm_data.p[i] = position[i];
      lcm_data.vWorld[i] = vWorld[i];
      lcm_data.vBody[i] = vBody[i];
      lcm_data.rpy[i] = rpy[i];
      lcm_data.omegaBody[i] = omegaBody[i];
      lcm_data.omegaWorld[i] = omegaWorld[i];
    }

    for(int i = 0; i < 4; i++) {
      lcm_data.quat[i] = orientation[i];
    }
  }

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Member Data Documentation

template<typename T>

Vec3<T> StateEstimate< T >::aBody

Definition at line 35 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::aWorld

Definition at line 35 of file StateEstimatorContainer.h.

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec4<T> StateEstimate< T >::contactEstimate

Definition at line 25 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::omegaBody

Definition at line 29 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::omegaWorld

Definition at line 33 of file StateEstimatorContainer.h.

template<typename T>

Quat<T> StateEstimate< T >::orientation

Definition at line 28 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::position

Definition at line 26 of file StateEstimatorContainer.h.

template<typename T>

RotMat<T> StateEstimate< T >::rBody

Definition at line 30 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::rpy

Definition at line 31 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::vBody

Definition at line 27 of file StateEstimatorContainer.h.

template<typename T>

Vec3<T> StateEstimate< T >::vWorld

Definition at line 34 of file StateEstimatorContainer.h.

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

• StateEstimatorContainer.h