src/inekf.cpp
// Constructor with initial state, noise params, and error type

Constructor with initial state, noise params, and error type
Constructor with initial state noise params and error type
InEKF::InEKF(const RobotState& state, const NoiseParams& params, const ErrorType error_type) 
  : g_((Eigen::VectorXd(3) << 0,0,-9.81).finished()), 
    magnetic_field_((Eigen::VectorXd(3) << std::cos(1.2049),0,std::sin(1.2049)).finished()), 
    state_(state), 
    noise_params_(params), 
    error_type_(error_type) {}
InEKF :: InEKF ( const RobotState & state , const NoiseParams & params , const ErrorType error_type ) : g_ ( ( Eigen :: VectorXd ( 3 ) << 0 , 0 , -9.81 ) . finished ( ) ) , magnetic_field_ ( ( Eigen :: VectorXd ( 3 ) << std :: cos ( 1.2049 ) , 0 , std :: sin ( 1.2049 ) ) . finished ( ) ) , state_ ( state ) , noise_params_ ( params ) , error_type_ ( error_type ) { }
Constructor with initial state, noise params, and error type
Constructor with initial state noise params and error type