_doc: "A vector containing the stdev rate values of the noise of the drift factors (only if dynamic==true)."
G:
dynamic:
_type: bool
_mandatory: false
_default: false
_doc: "The projection of gravity over the map XY plane. Default: false (i.e. constant slope)."
value:
_type: Vector2d
_mandatory: true
_doc: State initial values.
prior:
mode:
_type: string
_mandatory: true
_options: ["fix", "factor", "initial_guess"]
_doc: The prior mode can be 'factor' to add an absolute factor (requires 'noise_std'), 'fix' to set the values constant or 'initial_guess' to just set the values
factor_std:
_type: Vector2d
_mandatory: $mode == 'factor'
_doc: "A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix."
_type: SensorImu2dGravity.schema
_mandatory: false
_doc: "State for the projection of the gravity onto map XY plane. Only used if 'orthogonal_gravity' == false."
_doc: "The projection of gravity over the map XY plane. Default: false (i.e. constant slope)."
value:
_type: Vector2d
_mandatory: true
_doc: State initial values.
prior:
mode:
_type: string
_mandatory: true
_options: ["fix", "factor", "initial_guess"]
_doc: The prior mode can be 'factor' to add an absolute factor (requires 'noise_std'), 'fix' to set the values constant or 'initial_guess' to just set the values
factor_std:
_type: Vector2d
_mandatory: $mode == 'factor'
_doc: "A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix."