Units.hpp File Reference

Units used by INS. More...

Go to the source code of this file.

Enumerations
enum class	NAV::Units::ImuAccelerometerFilterBiasUnits : uint8_t {   m_s2 ,   microg ,   COUNT }
	Possible units for the accelerometer dynamic bias. More...
enum class	NAV::Units::ImuAccelerometerFilterNoiseUnits : uint8_t {   m_s2_sqrtHz ,   mg_sqrtHz ,   COUNT }
	Possible units to specify an accelerometer noise in a filter. More...
enum class	NAV::Units::ImuAccelerometerIRWUnits : uint8_t {   m_s3_sqrts ,   m_s3_sqrth ,   COUNT }
	Possible units to specify an accelerometer IRW. More...
enum class	NAV::Units::ImuAccelerometerNoiseUnits : uint8_t {   m_s2_sqrts ,   m_s2_sqrth ,   COUNT }
	Possible units to specify an accelerometer noise. More...
enum class	NAV::Units::ImuAccelerometerUnits : uint8_t {   m_s2 ,   g ,   COUNT }
	Possible units to specify an accelerometer with. More...
enum class	NAV::Units::ImuGyroscopeFilterBiasUnits : uint8_t {   rad_s ,   rad_h ,   deg_s ,   deg_h ,   COUNT }
	Possible units for the gyroscope dynamic bias. More...
enum class	NAV::Units::ImuGyroscopeFilterNoiseUnits : uint8_t {   rad_s_sqrtHz ,   rad_hr_sqrtHz ,   deg_s_sqrtHz ,   deg_hr_sqrtHz ,   COUNT }
	Possible units to specify an gyro noise in a filter. More...
enum class	NAV::Units::ImuGyroscopeIRWUnits : uint8_t {   rad_s2_sqrts ,   rad_s2_sqrth ,   deg_s2_sqrts ,   deg_s2_sqrth ,   COUNT }
	Possible units to specify an gyro RW. More...
enum class	NAV::Units::ImuGyroscopeNoiseUnits : uint8_t {   rad_s_sqrts ,   rad_s_sqrth ,   deg_s_sqrts ,   deg_s_sqrth ,   COUNT }
	Possible units to specify an gyro noise. More...
enum class	NAV::Units::ImuGyroscopeUnits : uint8_t {   rad_s ,   deg_s ,   COUNT }
	Possible units to specify an gyroscope bias with. More...

Functions
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerFilterBiasUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerFilterNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerIRWUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuAccelerometerUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeFilterBiasUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeFilterNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeIRWUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeNoiseUnits unit)
	Converts the value depending on the unit provided.
template<typename Derived>
Derived::PlainObject	NAV::convertUnit (const Eigen::MatrixBase< Derived > &value, Units::ImuGyroscopeUnits unit)
	Converts the value depending on the unit provided.
void	NAV::Units::from_json (const json &j, ImuAccelerometerFilterBiasUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuAccelerometerFilterNoiseUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuAccelerometerIRWUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuAccelerometerNoiseUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuAccelerometerUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuGyroscopeFilterBiasUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuGyroscopeFilterNoiseUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuGyroscopeIRWUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuGyroscopeNoiseUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::from_json (const json &j, ImuGyroscopeUnits &data)
	Converts the provided json object into the data object.
void	NAV::Units::to_json (json &j, const ImuAccelerometerFilterBiasUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuAccelerometerFilterNoiseUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuAccelerometerIRWUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuAccelerometerNoiseUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuAccelerometerUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuGyroscopeFilterBiasUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuGyroscopeFilterNoiseUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuGyroscopeIRWUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuGyroscopeNoiseUnits &data)
	Converts the provided data into a json object.
void	NAV::Units::to_json (json &j, const ImuGyroscopeUnits &data)
	Converts the provided data into a json object.
std::string	NAV::to_string (Units::ImuAccelerometerFilterBiasUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuAccelerometerFilterNoiseUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuAccelerometerIRWUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuAccelerometerNoiseUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuAccelerometerUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuGyroscopeFilterBiasUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuGyroscopeFilterNoiseUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuGyroscopeIRWUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuGyroscopeNoiseUnits unit)
	Converts the unit into a string.
std::string	NAV::to_string (Units::ImuGyroscopeUnits unit)
	Converts the unit into a string.

Detailed Description

Units used by INS.

Author

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

Date

2024-10-21

Enumeration Type Documentation

ImuAccelerometerFilterBiasUnits

enum class NAV::Units::ImuAccelerometerFilterBiasUnits : uint8_t

strong

Possible units for the accelerometer dynamic bias.

Enumerator
m_s2	[m / s^2]
microg	[µg]
COUNT	Amount of items in the enum.

ImuAccelerometerFilterNoiseUnits

enum class NAV::Units::ImuAccelerometerFilterNoiseUnits : uint8_t

strong

Possible units to specify an accelerometer noise in a filter.

Enumerator
m_s2_sqrtHz	[m / s^2 / √(Hz)]
mg_sqrtHz	[mg / √(Hz)]
COUNT	Amount of items in the enum.

ImuAccelerometerIRWUnits

enum class NAV::Units::ImuAccelerometerIRWUnits : uint8_t

strong

Possible units to specify an accelerometer IRW.

Enumerator
m_s3_sqrts	[m/s^3/sqrt(s)] (Standard deviation)
m_s3_sqrth	[m/s^3/sqrt(h)] (Standard deviation)
COUNT	Amount of items in the enum.

ImuAccelerometerNoiseUnits

enum class NAV::Units::ImuAccelerometerNoiseUnits : uint8_t

strong

Possible units to specify an accelerometer noise.

Enumerator
m_s2_sqrts	[m/s^2/sqrt(s)] (Standard deviation)
m_s2_sqrth	[m/s^2/sqrt(h)] (Standard deviation)
COUNT	Amount of items in the enum.

ImuAccelerometerUnits

enum class NAV::Units::ImuAccelerometerUnits : uint8_t

strong

Possible units to specify an accelerometer with.

Enumerator
m_s2	[m/s^2]
g	[g]
COUNT	Amount of items in the enum.

ImuGyroscopeFilterBiasUnits

enum class NAV::Units::ImuGyroscopeFilterBiasUnits : uint8_t

strong

Possible units for the gyroscope dynamic bias.

Enumerator
rad_s	[1/s]
rad_h	[1/h]
deg_s	[°/s]
deg_h	[°/h]
COUNT	Amount of items in the enum.

ImuGyroscopeFilterNoiseUnits

enum class NAV::Units::ImuGyroscopeFilterNoiseUnits : uint8_t

strong

Possible units to specify an gyro noise in a filter.

Enumerator
rad_s_sqrtHz	[rad / s /√(Hz)]
rad_hr_sqrtHz	[rad / hr /√(Hz)]
deg_s_sqrtHz	[deg / s /√(Hz)]
deg_hr_sqrtHz	[deg / hr /√(Hz)]
COUNT	Amount of items in the enum.

ImuGyroscopeIRWUnits

enum class NAV::Units::ImuGyroscopeIRWUnits : uint8_t

strong

Possible units to specify an gyro RW.

Enumerator
rad_s2_sqrts	[rad/s^2/sqrt(s)] (Standard deviation)
rad_s2_sqrth	[rad/s^2/sqrt(h)] (Standard deviation)
deg_s2_sqrts	[deg/s^2/sqrt(s)] (Standard deviation)
deg_s2_sqrth	[deg/s^2/sqrt(h)] (Standard deviation)
COUNT	Amount of items in the enum.

ImuGyroscopeNoiseUnits

enum class NAV::Units::ImuGyroscopeNoiseUnits : uint8_t

strong

Possible units to specify an gyro noise.

Enumerator
rad_s_sqrts	[rad/s/sqrt(s)] (Standard deviation)
rad_s_sqrth	[rad/s/sqrt(h)] (Standard deviation)
deg_s_sqrts	[deg/s/sqrt(s)] (Standard deviation)
deg_s_sqrth	[deg/s/sqrt(h)] (Standard deviation)
COUNT	Amount of items in the enum.

ImuGyroscopeUnits

enum class NAV::Units::ImuGyroscopeUnits : uint8_t

strong

Possible units to specify an gyroscope bias with.

Enumerator
rad_s	[rad/s]
deg_s	[deg/s]
COUNT	Amount of items in the enum.

Function Documentation

convertUnit() [1/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerFilterBiasUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [2/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerFilterNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [3/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerIRWUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [4/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [5/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuAccelerometerUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [6/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeFilterBiasUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [7/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeFilterNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [8/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeIRWUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [9/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeNoiseUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

convertUnit() [10/10]

template<typename Derived>

Derived::PlainObject NAV::convertUnit ( const Eigen::MatrixBase< Derived > & value, Units::ImuGyroscopeUnits unit )

nodiscard

Converts the value depending on the unit provided.

Parameters

[in]	value	Value to convert
[in]	unit	Unit the value is in

Returns

Value in unit of the first item in the Unit enum

from_json() [1/10]

void NAV::Units::from_json	(	const json &	j,
		ImuAccelerometerFilterBiasUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [2/10]

void NAV::Units::from_json	(	const json &	j,
		ImuAccelerometerFilterNoiseUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [3/10]

void NAV::Units::from_json	(	const json &	j,
		ImuAccelerometerIRWUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [4/10]

void NAV::Units::from_json	(	const json &	j,
		ImuAccelerometerNoiseUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [5/10]

void NAV::Units::from_json	(	const json &	j,
		ImuAccelerometerUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [6/10]

void NAV::Units::from_json	(	const json &	j,
		ImuGyroscopeFilterBiasUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [7/10]

void NAV::Units::from_json	(	const json &	j,
		ImuGyroscopeFilterNoiseUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [8/10]

void NAV::Units::from_json	(	const json &	j,
		ImuGyroscopeIRWUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [9/10]

void NAV::Units::from_json	(	const json &	j,
		ImuGyroscopeNoiseUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

from_json() [10/10]

void NAV::Units::from_json	(	const json &	j,
		ImuGyroscopeUnits &	data )

Converts the provided json object into the data object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

to_json() [1/10]

void NAV::Units::to_json	(	json &	j,
		const ImuAccelerometerFilterBiasUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [2/10]

void NAV::Units::to_json	(	json &	j,
		const ImuAccelerometerFilterNoiseUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [3/10]

void NAV::Units::to_json	(	json &	j,
		const ImuAccelerometerIRWUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [4/10]

void NAV::Units::to_json	(	json &	j,
		const ImuAccelerometerNoiseUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [5/10]

void NAV::Units::to_json	(	json &	j,
		const ImuAccelerometerUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [6/10]

void NAV::Units::to_json	(	json &	j,
		const ImuGyroscopeFilterBiasUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [7/10]

void NAV::Units::to_json	(	json &	j,
		const ImuGyroscopeFilterNoiseUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [8/10]

void NAV::Units::to_json	(	json &	j,
		const ImuGyroscopeIRWUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [9/10]

void NAV::Units::to_json	(	json &	j,
		const ImuGyroscopeNoiseUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_json() [10/10]

void NAV::Units::to_json	(	json &	j,
		const ImuGyroscopeUnits &	data )

Converts the provided data into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

to_string() [1/10]

std::string NAV::to_string ( Units::ImuAccelerometerFilterBiasUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [2/10]

std::string NAV::to_string ( Units::ImuAccelerometerFilterNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [3/10]

std::string NAV::to_string ( Units::ImuAccelerometerIRWUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [4/10]

std::string NAV::to_string ( Units::ImuAccelerometerNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [5/10]

std::string NAV::to_string ( Units::ImuAccelerometerUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [6/10]

std::string NAV::to_string ( Units::ImuGyroscopeFilterBiasUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [7/10]

std::string NAV::to_string ( Units::ImuGyroscopeFilterNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [8/10]

std::string NAV::to_string ( Units::ImuGyroscopeIRWUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [9/10]

std::string NAV::to_string ( Units::ImuGyroscopeNoiseUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit

to_string() [10/10]

std::string NAV::to_string ( Units::ImuGyroscopeUnits unit )

nodiscard

Converts the unit into a string.

Parameters

[in]

unit

Unit