Template Function navtk::filtering::apply_error_states

• Defined in File apply_error_states.hpp

Function Documentation

template<typename Block, typename Pva>
Pva navtk::filtering::apply_error_states(const Pva &pva, const Vector &x)

Correct a position, velocity and attitude container with a Vector of error state values, where interpretation of the error states is guided by template parameter.

Template Parameters

• Block – The type of StateBlock whose state representation x matches.

• Pva – The Pva container type.

Parameters

• pva – Raw position velocity and attitude.

• x – Error state Vector.

Returns

If the specified template overloads are implemented, a corrected version of pva. Otherwise, pva is returned unmodified with a warning dumped to the user.