# stateparts

Get and set part of state vector in `insEKF`

## Syntax

``part = stateparts(filter,stateName)``
``part = stateparts(filter,sensor,stateName)``
``stateparts(filter,stateName,value)``
``stateparts(filter,sensor,stateName,value)``

## Description

example

````part = stateparts(filter,stateName)` returns the components of the state vector corresponding to the specified state name of the filter.```

example

````part = stateparts(filter,sensor,stateName)` returns the components of the state vector corresponding to the specified state name of the specified sensor.```

example

````stateparts(filter,stateName,value)` sets the components of the state vector corresponding to the specified state name of the filter to the specified value.```

example

````stateparts(filter,sensor,stateName,value)` sets the components of the state vector corresponding to the specified state name of the specified sensor to the specified value.```

## Examples

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Create an `insAccelerometer` sensor object and `insGyroscope` sensor object.

```acc = insAccelerometer; gyro = insGyroscope;```

Construct an `insEKF` object using the two sensor objects.

`filter = insEKF(acc,gyro);`

Set the bias of the accelerometer to `[10 0 1]` $\mathrm{m}/{\mathrm{s}}^{2}$.

`stateparts(filter,acc,"Bias",[10 0 1])`

Get the bias of the accelerometer via the sensor.

`accBias = stateparts(filter,acc,"Bias")`
```accBias = 1×3 10 0 1 ```

Get the bias of the accelerometer via the filter.

`accBias2 = stateparts(filter,"Accelerometer_Bias")`
```accBias2 = 1×3 10 0 1 ```

Set the bias of the accelerometer back to `[0 0 0]`.

`stateparts(filter,"Accelerometer_Bias",[0 0 0])`

## Input Arguments

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INS filter, specified as an `insEKF` object.

Name of a part of the state for the filter or the sensor, specified as a string scalar or character vector.

Use the `stateinfo` object function to find the names of state parts in the filter.

Example: `"AngularVelocity"`

Example: `"Bias"`

Data Types: `char` | `string`

Inertial sensor, specified as one of these objects used to construct the `insEKF` filter object:

Value for the filter state or sensor state part, specified as an N-element real-valued vector, where N is the number of elements in the state part.

Example: `[.2 .3]`

Data Types: `single` | `double`

## Output Arguments

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Part of the state vector, returned as a real-valued vector, where N is the number of elements in the state part.

## Version History

Introduced in R2022a