* @brief : Save the whole trajectory to a txt file */

Butterworth filter (Low-pass filter)

* @brief Returns the Earth acceleration measurement equal to accelerometer * measurement in the Earth coordinate frame with the 1 g of gravity remove

* @brief Returns the linear acceleration measurement equal to the accelerometer * measurement with the 1 g of gravity removed. * @param ahrs AHRS al

* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and * heading measurements. * @param ahrs AHRS algorithm structure. * @para

* @brief Swaps sensor axes for alignment with the body axes. * @param sensor Sensor axes. * @param alignment Axes alignment. * @return Sensor axes

* @brief Magnetometer calibration model. * @param uncalibrated Uncalibrated measurement. * @param softIronMatrix Soft-iron matrix. * @param hardIro

* @brief Converts a quaternion to a rotation matrix. * @param quaternion Quaternion. * @return Rotation matrix. */

Manual heap

Align the size of various states

Select the backend NOTE:** This must be called before the first plot command to have any effect. Mainly useful to select the non-interactive 'Agg' b

Calculates the angular acceleration of the IMU, LiDAR, and linear acceleration.