Keys.hpp File Reference

Inertial Navigation System Keys. More...

Go to the source code of this file.

Enumerations
enum	NAV::Keys::InertialNavigationKey : uint8_t {   NAV::Keys::AccelBiasX ,   NAV::Keys::AccelBiasY ,   NAV::Keys::AccelBiasZ ,   NAV::Keys::GyroBiasX ,   NAV::Keys::GyroBiasY ,   NAV::Keys::GyroBiasZ ,   NAV::Keys::AccelScaleFactorX ,   NAV::Keys::AccelScaleFactorY ,   NAV::Keys::AccelScaleFactorZ ,   NAV::Keys::GyroScaleFactorX ,   NAV::Keys::GyroScaleFactorY ,   NAV::Keys::GyroScaleFactorZ ,   NAV::Keys::AccelMisalignmentQ1 ,   NAV::Keys::AccelMisalignmentQ2 ,   NAV::Keys::AccelMisalignmentQ3 ,   NAV::Keys::AccelMisalignmentQ0 ,   NAV::Keys::GyroMisalignmentQ1 ,   NAV::Keys::GyroMisalignmentQ2 ,   NAV::Keys::GyroMisalignmentQ3 ,   NAV::Keys::GyroMisalignmentQ0 ,   NAV::Keys::InertialNavigationKey_COUNT }
	Keys used in the model. More...

Functions
std::ostream &	operator<< (std::ostream &os, const NAV::Keys::InertialNavigationKey &obj)
	Stream insertion operator overload.

Variables
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	NAV::Keys::AccelBias
	All accelerometer bias keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 4 >	NAV::Keys::AccelMisalignment
	All accelerometer misalignment quaternion keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	NAV::Keys::AccelScaleFactor
	All accelerometer scale factor keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	NAV::Keys::GyroBias
	All gyroscope bias keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 4 >	NAV::Keys::GyroMisalignment
	All gyroscope misalignment quaternion keys.
template<typename StateKeyType>
constexpr std::array< StateKeyType, 3 >	NAV::Keys::GyroScaleFactor
	All gyroscope scale factor keys.

Detailed Description

Inertial Navigation System Keys.

Author

T. Topp (topp@.nosp@m.ins..nosp@m.uni-s.nosp@m.tutt.nosp@m.gart..nosp@m.de)

Date

2025-03-12

Enumeration Type Documentation

InertialNavigationKey

enum NAV::Keys::InertialNavigationKey : uint8_t

Keys used in the model.

Enumerator
AccelBiasX	Accelerometer bias X [m/s^2].
AccelBiasY	Accelerometer bias Y [m/s^2].
AccelBiasZ	Accelerometer bias Z [m/s^2].
GyroBiasX	Gyroscope bias X [rad/s].
GyroBiasY	Gyroscope bias Y [rad/s].
GyroBiasZ	Gyroscope bias Z [rad/s].
AccelScaleFactorX	Accelerometer scale factor X [-].
AccelScaleFactorY	Accelerometer scale factor Y [-].
AccelScaleFactorZ	Accelerometer scale factor Z [-].
GyroScaleFactorX	Gyroscope scale factor X [-].
GyroScaleFactorY	Gyroscope scale factor Y [-].
GyroScaleFactorZ	Gyroscope scale factor Z [-].
AccelMisalignmentQ1	Accelerometer misalignment quaternion x: Coefficient of i.
AccelMisalignmentQ2	Accelerometer misalignment quaternion y: Coefficient of j.
AccelMisalignmentQ3	Accelerometer misalignment quaternion z: Coefficient of k.
AccelMisalignmentQ0	Accelerometer misalignment quaternion w: Real (scalar) part of the Quaternion.
GyroMisalignmentQ1	Gyroscope misalignment quaternion x: Coefficient of i.
GyroMisalignmentQ2	Gyroscope misalignment quaternion y: Coefficient of j.
GyroMisalignmentQ3	Gyroscope misalignment quaternion z: Coefficient of k.
GyroMisalignmentQ0	Gyroscope misalignment quaternion w: Real (scalar) part of the Quaternion.
InertialNavigationKey_COUNT	Count.

Function Documentation

operator<<()

std::ostream & operator<<	(	std::ostream &	os,
		const NAV::Keys::InertialNavigationKey &	obj )

Stream insertion operator overload.

Parameters

[in,out]	os	Output stream object to stream the time into
[in]	obj	Object to print

Returns

Returns the output stream object in order to chain stream insertions