.. _file_include_mola_navstate_fg_NavStateFG.h:

File NavStateFG.h
=================

|exhale_lsh| :ref:`Parent directory <dir_include_mola_navstate_fg>` (``include/mola_navstate_fg``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Fuse of odometry, IMU, and SE(3) pose/twist estimations. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/mola_navstate_fg/NavStateFG.h``)
------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_mola_navstate_fg_NavStateFG.h.rst



Detailed Description
--------------------

Jose Luis Blanco Claraco 

Jan 22, 2024 






Includes
--------


- ``mola_imu_preintegration/RotationIntegrator.h``

- ``mola_kernel/factors/FactorConstVelKinematics.h``

- ``mola_kernel/interfaces/NavStateFilter.h``

- ``mola_navstate_fg/NavStateFGParams.h`` (:ref:`file_include_mola_navstate_fg_NavStateFGParams.h`)

- ``mrpt/containers/bimap.h``

- ``mrpt/containers/yaml.h``

- ``mrpt/core/pimpl.h``

- ``mrpt/obs/CObservationIMU.h``

- ``mrpt/obs/CObservationOdometry.h``

- ``mrpt/poses/CPose3DPDFGaussian.h``

- ``mrpt/system/COutputLogger.h``

- ``optional``

- ``set``






Namespaces
----------


- :ref:`namespace_mola`


Classes
-------


- :ref:`exhale_struct_structmola_1_1NavStateFG_1_1OdomData`

- :ref:`exhale_struct_structmola_1_1NavStateFG_1_1PointData`

- :ref:`exhale_struct_structmola_1_1NavStateFG_1_1PoseData`

- :ref:`exhale_struct_structmola_1_1NavStateFG_1_1QueryPointData`

- :ref:`exhale_struct_structmola_1_1NavStateFG_1_1State`

- :ref:`exhale_struct_structmola_1_1NavStateFG_1_1TwistData`

- :ref:`exhale_class_classmola_1_1NavStateFG`