Struct PntosInitialInertialSolution

Defined in File initialization.h

Struct Documentation

struct PntosInitialInertialSolution

A container that holds both the current solution, inertial errors (and their associated covariance), and 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

PntosMessage *solution: The initial solution.

PntosStandardInertialErrors *inertial_errors: The inertial errors.

PntosMatrix *inertial_error_covariance: The covariance matrix associated with the terms in inertial_errors.

PntosInitializationStatus status: Indicates the current initialization status. Should be checked before using any of the other fields.