Helper class that handles some common versions into and out of ROS formats.
static void ov_msckf::
ROSVisualizerHelper:: sim_save_total_state_to_file(std::shared_ptr<State> state,
Save current estimate state and groundtruth including calibration.
|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)|