Public Member Functions
	TestData ()

Eigen::Quaterniond	xform (Eigen::Quaterniond const &quat)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Quaterniond	roomToCameraRotation = Eigen::Quaterniond::Identity()
	Quantity computed from the "camera pose" (room calibration output)

util::Angle	yawCorrection = 0
	Quantity computed during room calibration output.

BodyState	state

kalman::types::DimSquareMatrix < BodyState >	originalStateError

BodyProcessModel	processModel

Eigen::Vector3d	imuVariance

Detailed Description

Definition at line 46 of file TestIMU_Common.h.

Constructor & Destructor Documentation

TestData::TestData ( )

inline

Set up from a default configuration.

configure the process model

Save the IMU measurement parameters.

Definition at line 47 of file TestIMU_Common.h.

Eigen::Quaterniond TestData::xform ( Eigen::Quaterniond const & quat )

inline

Transform the IMU-measured quaternion using the calibration output mocked up in this struct.

Definition at line 74 of file TestIMU_Common.h.

BodyState TestData::state

Default constructor is no translation, identity rotation, 10 along main diagonal as the state covariance matrix.

Definition at line 81 of file TestIMU_Common.h.

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