Struct PntosInitialEstimateWithCovariance

Defined in File initialization.h

Struct Documentation

struct PntosInitialEstimateWithCovariance

A container that holds both the current estimate and its associated covariance as well as the current status. Coupling these avoids time-of-check to time-of-use (TOCTOU) issues.

UNSTABLE: This feature is unstable and is not yet considered part of the stable pntOS API. Usage of this feature is highly discouraged in non-experimental code, and its definition may change at any time.

Public Members

PntosManagedMemory *memory

AspnTypeTimestamp time: The time at which estimate_with_covariance is valid.

PntosEstimateWithCovariance *estimate_with_covariance: The current estimate of the initial solution. Check status for its validity (can be NULL if status is anything other than PNTOS_INITIALIZED_GOOD).

PntosInitializationStatus status: Indicates the current initialization status. Should be checked before using estimate_with_covariance.