StateStdDev struct
Struct containing prior state deviation parameters of floating base estimators.
Public variables
- Eigen::Vector3d imuOrientation
- Prior deviation of IMU orientation in inertial frame expressed in radians as rpy.
- Eigen::Vector3d imuPosition
- Prior deviation of IMU position in inertial frame expressed in m as xyz.
- Eigen::Vector3d imuLinearVelocity
- Prior deviation of mixed-trivialized IMU linear velocity expressed in m/s.
- Eigen::Vector3d imuAngularVelocity
- Prior deviation of mixed-trivialized IMU angular velocity expressed in rad/s.
- Eigen::Vector3d lContactFrameOrientation
- Prior deviation of left foot contact frame orientation in inertial frame expressed in radians as rpy.
- Eigen::Vector3d lContactFramePosition
- Prior deviation of left foot contact frame position in inertial frame expressed in m as xyz.
- Eigen::Vector3d rContactFrameOrientation
- Prior deviation of right foot contact frame orientation in inertial frame expressed in radians as rpy.
- Eigen::Vector3d rContactFramePosition
- Prior deviation of right foot contact frame position in inertial frame expressed in m as xyz.
- Eigen::Vector3d accelerometerBias
- Prior deviation of IMU accelerometer bias in local frame expressed in m/s^2.
- Eigen::Vector3d gyroscopeBias
- Prior deviation of IMU gyroscope bias in local frame expressed in rad/s.
- PoseCovariance supportFramePose
- Container of deviations of support frame pose in inertial frame.
- PoseCovariance landmarkPose
- Container of deviations of landmark pose in inertial frame.