Struct OdometryState

• Defined in File odometry.hpp

Struct Documentation

struct OdometryState

Public Functions

inline OdometryState(double x_0 = 0.0, double y_0 = 0.0, double theta_0 = 0.0, double v_0 = 0.0, double omega_0 = 0.0, const arma::mat p_0 = arma::eye(5, 5))

Constructor to initialize the odometry state with optional covariance.

Parameters:

• x_0 – Initial x position.

• y_0 – Initial y position.

• theta_0 – Initial heading angle.

• v_0 – Initial linear velocity.

• omega_0 – Initial angular velocity.

• p_0 – Initial covariance matrix (default: identity).

Public Members

double x

X position of the vehicle.

double y

Y position of the vehicle.

double theta

Heading angle (yaw) of the vehicle.

double v

Linear velocity of the vehicle.

double omega

Angular velocity (yaw rate) of the vehicle.

arma::mat P

Covariance matrix of the state.