OpNavUnitVecMsgPayload

struct OpNavUnitVecMsgPayload

Optical navigation message for unit vector measurements.

This message contains the output of any measurement method (primarily image processing) that outputs a unit vector from the target to the camera.

Public Members

double timeTag

[s] Current time of validity for output

bool valid

Quality of measurement if 1, invalid if 0.

double covar_N[3 * 3]

[-] Covariance of measurement in the inertial frame

double covar_B[3 * 3]

[-] Covariance of measurement in the body frame

double covar_C[3 * 3]

[-] Covariance of measurement in the camera frame

double rhat_BN_N[3]

[-] measurement in the inertial frame

double rhat_BN_B[3]

[-] measurement in the body frame

double rhat_BN_C[3]

[-] measurement in the camera frame