struct
OutputStruct holding the elements of the estimator output.
Public variables
- InternalState state
- Current state estimate of the estimator.
- StateStdDev stateStdDev
- Current state covariance matrix.
- manif::SE3d basePose
- Estimated base link pose.
- Eigen::Matrix<double, 6, 1> baseTwist
- Estimate base link velocity in mixed-velocity representation.