Main.cpp File Reference

#include <iostream>
#include <quater_ukf/ukf.hpp>

Functions
void	quater_mult (Eigen::Quaternion< double > *q1, Eigen::Quaternion< double > *q2, Eigen::Quaternion< double > *q3)
int	main (int argc, char **argv)

Function Documentation

int main	(	int	argc,
		char **	argv
	)

< Error quaternions

< Initial state vector

< Initial state vector

< gravitation acceleration

< Initial State covariance matrix

< Attitude quaternion. Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]

< Process noise covariance matrix

< Measurements noise variance and covar matrix

INIT FIL:TER VALUES

LUNCH THE FILTER

LUNCH THE FILTER

void quater_mult	(	Eigen::Quaternion< double > *	q1,
		Eigen::Quaternion< double > *	q2,
		Eigen::Quaternion< double > *	q3
	)