* @brief Set the cov object * * @param sigma_p pos std, m * @param sigma_v vel std, m/s * @param sigma_rp roll pitch std * @param sigma

* @brief * * @ref ESKF 5.4.1 The nominal state kinematics (without noise) * * @param last_imu * @param curr_imu * @param last_state

* @brief global to local coordinate, convert WGS84 to ENU frame * * @param gps_data_ptr * @return Eigen::Vector3d */

* @brief local to glocal coordinate, convert ENU to WGS84 lla * * @param p_wb * @return Eigen::Vector3d */

* @brief * * @ref ESKF * 5.4.3 (local angular error) * 7.2.3 (global angular error) * The error-state Jacobian and pertu

* @brief check jacobian * * @param mat_x * @param mat_z */

* @brief * * @param delta_rot_vec small rotation vector * @param flag 0: angle axis, 1: quaternion * @return Eigen::Matrix3d */

x = 652954.1006 y = 4774619.7919 z = -4167647.7937

* @brief measurement estimation h(x), Twb in frame V --> Tc0cn * * @param mat_x * @return Eigen::MatrixXd */

* @brief h(x)/delta X or -r(x)/delta X * * @param mat_x * @param mat_z * @return Eigen::MatrixXd */

* @brief residual = z - h(x) * * @param mat_x * @param mat_z * @return Eigen::MatrixXd */