Estimation/MocapExternalOdometryErrorState/package.mo

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Documentation: Estimation.MocapExternalOdometryErrorState · Estimation.MocapExternalOdometryErrorState.Quaternion · Estimation.MocapExternalOdometryErrorState.Vector3 · Estimation.MocapExternalOdometryErrorState.Covariance · Estimation.MocapExternalOdometryErrorState.TangentVector · Estimation.MocapExternalOdometryErrorState.MeasurementVector · Estimation.MocapExternalOdometryErrorState.MeasurementMatrix · Estimation.MocapExternalOdometryErrorState.MeasurementCovariance · Estimation.MocapExternalOdometryErrorState.CrossCovariance · Estimation.MocapExternalOdometryErrorState.Gain

within Estimation;
package MocapExternalOdometryErrorState
  "Mocap-aided external-odometry error-state Kalman filter"
  constant Integer TangentLength = 12
    "Tangent covariance dimension";
  constant Integer MeasurementLength = 6
    "Pose measurement tangent dimension";

  type Quaternion = Real[4] "Scalar-first Hamilton quaternion {w,x,y,z}";
  type Vector3 = Real[3] "Three-dimensional coordinate vector";
  type Covariance = Real[12, 12]
    "Full tangent covariance; entry units follow the documented tangent ordering";
  type TangentVector = Real[12];
  type MeasurementVector = Real[6];
  type MeasurementMatrix = Real[6, 12];
  type MeasurementCovariance = Real[6, 6];
  type CrossCovariance = Real[12, 6];
  type Gain = Real[12, 6];
end MocapExternalOdometryErrorState;