ROSVisualizerHelper class
Helper class that handles some common versions into and out of ROS formats.
Contents
- Reference
Public static functions
- static void sim_save_total_state_to_file(std::shared_ptr<State> state, std::shared_ptr<Simulator> sim, std::ofstream& of_state_est, std::ofstream& of_state_std, std::ofstream& of_state_gt)
- Save current estimate state and groundtruth including calibration.
Function documentation
static void ov_msckf::
Save current estimate state and groundtruth including calibration.
| Parameters | |
|---|---|
| state | Pointer to the state |
| sim | Pointer to the simulator (or null) |
| of_state_est | Output file for state estimate |
| of_state_std | Output file for covariance |
| of_state_gt | Output file for groundtruth (if we have it from sim) |