ov_type::JPLQuat class

Derived Type class that implements JPL quaternion.

Reference

This quaternion uses a left-multiplicative error state and follows the "JPL convention". Please checkout our utility functions in the quat_ops.h file. We recommend that people new quaternions check out the following resources:

Base classes

class Type: Base class for estimated variables.

Public functions

void update(const Eigen::VectorXd& dx) override: Implements update operation by left-multiplying the current quaternion with a quaternion built from a small axis-angle perturbation.
void set_value(const Eigen::MatrixXd& new_value) override: Sets the value of the estimate and recomputes the internal rotation matrix.
void set_fej(const Eigen::MatrixXd& new_value) override: Sets the fej value and recomputes the fej rotation matrix.
auto clone() -> std::shared_ptr<Type> override: Create a clone of this variable.
auto Rot() const -> Eigen::Matrix<double, 3, 3>: Rotation access.
auto Rot_fej() const -> Eigen::Matrix<double, 3, 3>: FEJ Rotation access.

Protected functions

void set_value_internal(const Eigen::MatrixXd& new_value): Sets the value of the estimate and recomputes the internal rotation matrix.
void set_fej_internal(const Eigen::MatrixXd& new_value): Sets the fej value and recomputes the fej rotation matrix.

Function documentation

void ov_type::JPLQuat::update(const Eigen::VectorXd& dx) override

Implements update operation by left-multiplying the current quaternion with a quaternion built from a small axis-angle perturbation.

Parameters
dx	Axis-angle representation of the perturbing quaternion

void ov_type::JPLQuat::set_value(const Eigen::MatrixXd& new_value) override

Sets the value of the estimate and recomputes the internal rotation matrix.

Parameters
new_value	New value for the quaternion estimate

void ov_type::JPLQuat::set_fej(const Eigen::MatrixXd& new_value) override

Sets the fej value and recomputes the fej rotation matrix.

Parameters
new_value	New value for the quaternion estimate

void ov_type::JPLQuat::set_value_internal(const Eigen::MatrixXd& new_value) protected