def state(self, time): """ Returns entire state of ideal ns. """ q = dcm2quat(self.dcmbn(time)) return np.array([self.phi(time), self.lam(time), self.h(time), self.vn(time), self.ve(time), self.vd(time), self.an(time), self.ae(time), self.ad(time), q[0], q[1], q[2], q[3]])
def init_state(self): """ Returns initial state of IMU. """ q = dcm2quat(self.dcmbn(0.)) return np.array([self.phi(0.), self.lam(0.), self.h(0.), self.vn(0.), self.ve(0.), self.vd(0.), self.an(0.), self.ae(0.), self.ad(0.), q[0], q[1], q[2], q[3]])
def state_extended(self, time): """ Returns entire state of ideal ns. """ q = dcm2quat(self.dcmbn(time)) return np.array([self.phi(time), self.lam(time), self.h(time), self.vn(time), self.ve(time), self.vd(time), self.an(time), self.ae(time), self.ad(time), q[0], q[1], q[2], q[3], self.wx(time), self.wy(time), self.wz(time), self.ax(time), self.ay(time), self.az(time)])