Diff: solaESKF.hpp

Revision:

47:2467de40951f

Parent:

46:15988dc41923

Child:

50:dadad0567349

--- a/solaESKF.hpp	Thu Oct 28 09:44:34 2021 +0000
+++ b/solaESKF.hpp	Fri Oct 29 13:30:03 2021 +0000
@@ -11,9 +11,6 @@
 private:
 
     int nState;
-        
-public:
-    
     Matrix pihat;
     Matrix vihat;
     Matrix qhat;
@@ -25,10 +22,32 @@
     Matrix Phat;
     Matrix Q;
     
+    void setDiag(Matrix& mat, float val);
+    void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
+        
+public:
+    
     solaESKF();
     
-    void setDiag(Matrix& mat, float val);
-    void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
+    Matrix getPihat();
+    Matrix getVihat();
+    Matrix getQhat();
+    Matrix getAccBias();
+    Matrix getGyroBias();
+    Matrix getGravity();
+    Matrix getErrState();
+    
+    void setPhatPosition(float val);
+    void setPhatVelocity(float val);
+    void setPhatAngleError(float val);
+    void setPhatAccBias(float val);
+    void setPhatGyroBias(float val);
+    void setPhatGravity(float val);
+    void setQVelocity(float val);
+    void setQAngleError(float val);
+    void setQAccBias(float val);
+    void setQGyroBias(float val);
+    
     void updateNominal(Matrix acc,Matrix gyro, float att_dt);
     void updateErrState(Matrix acc,Matrix gyro, float att_dt);
     void updateGPSVelocity(Matrix velgps,Matrix R);