stateparts

Get or set value of state part in insCF

Since R2026a

Syntax

part = stateparts(filter,stateName)

stateparts(filter,stateName,value)

Description

part = stateparts(filter,stateName) returns the value of the state part specified by stateName.

stateparts(filter,stateName,value) sets the value of the specified state part stateName to the specified value.

Examples

Set and Get State Parts in insCF

Create an insCF object for orientation estimation.

filterO = insCF;

Get the orientation from the complementary filter. The function returns the default orientation value.

orientation = stateparts(filterO,"Orientation")

orientation = 1×4

     1     0     0     0

Set the orientation to a new value.

stateparts(filterO,"Orientation",[1 0.05 0.5 0])

Get the new orientation from the filter.

orientation = stateparts(filterO,"Orientation")

orientation = 1×4

    1.0000    0.0500    0.5000         0

Create an insCF filter object for pose estimation.

filterP = insCF(insCFGyroscope,insCFAccelerometer,insCFGPS);

Get the position from the complementary filter. The function returns the default position value.

position = stateparts(filterP,"Position")

position = 1×3

     0     0     0

Set the position to a new value.

stateparts(filterP,"Position",[2 1.5 0])

Get the new position.

position = stateparts(filterP,"Position")

position = 1×3

    2.0000    1.5000         0

Input Arguments

filter — Complementary filter

insCF object

Complementary filter, specified as an insCF object.

stateName — State part name

"Orientation" | "Position" | "Velocity"

State part name, specified as "Orientation", "Position", or "Velocity". If you specify a filter created to track only orientation, then you must specify this state part name as "Orientation".

value — Value for filter state part

N-element row vector

Value for the filter state part, specified as an N-element row vector, where N is the number of elements in the state part vector. You must specify this value in the format that corresponds to the specified state part.

State	Value Format
Orientation	[w x y z], representing four parts of quaternion
Position	[x y z], where each element is in meters
Velocity	[vx vy vz], where each element is in meters per second

Example: stateparts(insCF,"Orientation",[1 0.05 0.5 0]) sets the value for the orientation filter state part of insCF to [1 0.05 0.5 0].

Data Types: double

Output Arguments

part — State part value

N-element row vector

State part value, returned as a N-element row vector. N is the number of elements in the state part. The format of the vector depends on the specified state part.

State	Value Format
Orientation	[w x y z], representing four parts of quaternion
Position	[x y z], where each element is in meters
Velocity	[vx vy vz], where each element is in meters per second

Data Types: double

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2026a