function

Estimation.StrapdownINS.UKF.stateVector

Flatten a public UKF state into its nominal numeric representation

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`state`	`State`
output	`nominal`	`NominalVector`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function stateVector
  "Flatten a public UKF state into its nominal numeric representation"
  input State state;
  output NominalVector nominal;
algorithm
  nominal := cat(1, state.positionWorldEnu_m,
    state.velocityWorldEnu_m_s, state.quaternionWorldBody,
    state.gyroscopeBiasBodyFlu_rad_s,
    state.accelerometerBiasBodyFlu_m_s2);
end stateVector;