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stateinfo

Display state vector information for insfilterNonholonomic

Description

example

stateinfo(FUSE) displays the meaning of each index of the State property and the associated units.

info = stateinfo(FUSE) returns a structure with fields containing descriptions of the elements of the state vector of the filter, FUSE.

Examples

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Create an insfilterNonholonomic object.

filter = insfilterErrorState;

Display the state information of the created filter.

stateinfo(filter)
States                            Units    Index
Orientation (quaternion parts)             1:4  
Position (NAV)                    m        5:7  
Velocity (NAV)                    m/s      8:10 
Gyroscope Bias (XYZ)              rad/s    11:13
Accelerometer Bias (XYZ)          m/s²     14:16
Visual Odometry Scale                      17   

Output the state information of the filter as a structure.

info = stateinfo(filter)
info = struct with fields:
            Orientation: [1 2 3 4]
               Position: [5 6 7]
               Velocity: [8 9 10]
          GyroscopeBias: [11 12 13]
      AccelerometerBias: [14 15 16]
    VisualOdometryScale: 17

Input Arguments

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insfilterNonholonomic, specified as an object.

Output Arguments

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State information, returned as a structure with fields containing descriptions of the elements of the state vector of the filter. The values of each field are the corresponding indices of the state vector.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2018b