record

Estimation.MocapExternalOdometryErrorState.NominalState

Nominal rigid-body state carried by the geometric error-state EKF

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
field	`attitude`	`Real`	`[4]`	Scalar-first Hamilton quaternion {w,x,y,z}
field	`velocity`	`Real`	`[3]`	Linear velocity in world ENU coordinates [m/s]
field	`position`	`Real`	`[3]`	Position in world ENU coordinates [m]
field	`angularVelocity`	`Real`	`[3]`	Angular velocity in body FLU coordinates [rad/s]

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

record NominalState "Nominal rigid-body state carried by the geometric error-state EKF"
  Real attitude[4] "Scalar-first Hamilton quaternion {w,x,y,z}";
  Real velocity[3] "Linear velocity in world ENU coordinates [m/s]";
  Real position[3] "Position in world ENU coordinates [m]";
  Real angularVelocity[3] "Angular velocity in body FLU coordinates [rad/s]";
end NominalState;