iDynTree::AttitudeQuaternionEKFParameters struct

#include <iDynTree/AttitudeQuaternionEKF.h>

Public variables

double time_step_in_seconds

discretization time step in seconds, default value:

double bias_correlation_time_factor

time factor modeling how fast the bias can vary, default value:

double accelerometer_noise_variance

measurement noise covariance of accelerometer measurement, default value:

double magnetometer_noise_variance

measurement noise covariance of magnetometer measurement, default value:

double gyroscope_noise_variance

system noise covariance of gyroscope measurement, since it is the input to the system, default value:

double gyro_bias_noise_variance

system noise covariance of gyroscope bias estimate, default value:

double initial_orientation_error_variance

initial state covariance of orientation, default value:

double initial_ang_vel_error_variance

initial state covariance of angular velocity, default value:

double initial_gyro_bias_error_variance

measurement noise covariance of gyroscope bias, default value:

bool use_magnetometer_measurements

flag to enable the use of magnetometer measurement for yaw correction, default value: false