ov_msckf::RosVisualizerHelper class

Helper class that handles some common versions into and out of ROS formats.

Contents

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::RosVisualizerHelper::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.

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)