InertialNavigationDefinition.hpp File Reference

#include <array>
#include "core/Matrix.hpp"
#include "types.h"

Go to the source code of this file.

Namespaces
namespace	inertial_nav

Typedefs
using	inertial_nav::StateVector = std::array<floating_point, STATE_SIZE>
using	inertial_nav::CovarianceMatrix = clockwerk::Matrix<STATE_SIZE, STATE_SIZE>
using	inertial_nav::PropagateObsVector = std::array<floating_point, PROPAGATE_OBSERVER_SIZE>
using	inertial_nav::SunObsVector = std::array<floating_point, SUN_OBSERVER_SIZE>
using	inertial_nav::SunMeasVector = std::array<floating_point, SUN_MEAS_SIZE>
using	inertial_nav::MagObsVector = std::array<floating_point, MAG_OBSERVER_SIZE>
using	inertial_nav::MagMeasVector = std::array<floating_point, MAG_MEAS_SIZE>
using	inertial_nav::GpsObsVector = std::array<floating_point, GPS_OBSERVER_SIZE>
using	inertial_nav::GpsMeasVector = std::array<floating_point, GPS_MEAS_SIZE>

Variables
constexpr uint32	inertial_nav::STATE_POS_IDX = 0
constexpr uint32	inertial_nav::STATE_VEL_IDX = 3
constexpr uint32	inertial_nav::STATE_QUAT_IDX = 6
constexpr uint32	inertial_nav::STATE_GYRO_BIAS_IDX = 10
constexpr uint32	inertial_nav::STATE_ACCEL_BIAS_IDX = 13
constexpr uint32	inertial_nav::STATE_SIZE = 16
constexpr uint32	inertial_nav::PROPAGATE_GRAV_ACCEL_IDX = 0
constexpr uint32	inertial_nav::PROPAGATE_GYRO_MEAS_IDX = 3
constexpr uint32	inertial_nav::PROPAGATE_ACCEL_MEAS_IDX = 6
constexpr uint32	inertial_nav::PROPAGATE_PI_POS_IDX = 9
constexpr uint32	inertial_nav::PROPAGATE_OBSERVER_SIZE = 12
constexpr uint32	inertial_nav::SUN_EXPECTED_SUN_VEC_IDX = 0
constexpr uint32	inertial_nav::SUN_ALIGNMENT_QUAT_IDX = 3
constexpr uint32	inertial_nav::SUN_OBSERVER_SIZE = 7
constexpr uint32	inertial_nav::MAG_EXPECTED_MAG_VEC_IDX = 0
constexpr uint32	inertial_nav::MAG_ALIGNMENT_QUAT_IDX = 3
constexpr uint32	inertial_nav::MAG_OBSERVER_SIZE = 3
constexpr uint32	inertial_nav::GPS_REFERENCE_FRAME_QUAT_IDX = 0
constexpr uint32	inertial_nav::GPS_OBSERVER_SIZE = 4
constexpr uint32	inertial_nav::PROCESS_NOISE_POS_IDX = 0
constexpr uint32	inertial_nav::PROCESS_NOISE_VEL_IDX = 3
constexpr uint32	inertial_nav::PROCESS_NOISE_QUAT_IDX = 6
constexpr uint32	inertial_nav::PROCESS_NOISE_GYRO_BIAS_IDX = 10
constexpr uint32	inertial_nav::PROCESS_NOISE_ACCEL_BIAS_IDX = 13
constexpr uint32	inertial_nav::PROCESS_NOISE_SIZE = 16
constexpr uint32	inertial_nav::SUN_NOISE_SUN_VEC_IDX = 0
constexpr uint32	inertial_nav::SUN_NOISE_SIZE = 3
constexpr uint32	inertial_nav::MAG_NOISE_MAG_VEC_IDX = 0
constexpr uint32	inertial_nav::MAG_NOISE_SIZE = 3
constexpr uint32	inertial_nav::GPS_NOISE_POS_IDX = 0
constexpr uint32	inertial_nav::GPS_NOISE_SIZE = 3
constexpr uint32	inertial_nav::SUN_MEAS_SUN_VEC_IDX = 0
constexpr uint32	inertial_nav::SUN_MEAS_SIZE = 3
constexpr uint32	inertial_nav::MAG_MEAS_MAG_VEC_IDX = 0
constexpr uint32	inertial_nav::MAG_MEAS_SIZE = 3
constexpr uint32	inertial_nav::GPS_MEAS_POS_IDX = 0
constexpr uint32	inertial_nav::GPS_MEAS_SIZE = 3