Struct FilterState

Defined in File filter_state.hpp

Struct Documentation

struct FilterState

Structure used for storing and comparing filter states.

This structure is useful when higher-level classes need to remember filter history. Measurement units are assumed to be in meters and radians. Times are real-valued and measured in seconds.

Public Functions

inline FilterState()

inline bool operator()(const FilterState &a, const FilterState &b)

Public Members

Eigen::VectorXd state_

Eigen::MatrixXd estimate_error_covariance_

Eigen::VectorXd latest_control_

rclcpp::Time last_measurement_time_

rclcpp::Time latest_control_time_