31 [[nodiscard]]
static std::string
type()
33 return "ImuObsSimulated";
49 desc.emplace_back(
"AccelDynamicsN [m/s^2]");
50 desc.emplace_back(
"AccelDynamicsE [m/s^2]");
51 desc.emplace_back(
"AccelDynamicsD [m/s^2]");
52 desc.emplace_back(
"AngularRateN (ω_nb_n) [rad/s]");
53 desc.emplace_back(
"AngularRateE (ω_nb_n) [rad/s]");
54 desc.emplace_back(
"AngularRateD (ω_nb_n) [rad/s]");
55 desc.emplace_back(
"AccelDynamicsX ECEF [m/s^2]");
56 desc.emplace_back(
"AccelDynamicsY ECEF [m/s^2]");
57 desc.emplace_back(
"AccelDynamicsZ ECEF [m/s^2]");
58 desc.emplace_back(
"AngularRateX ECEF (ω_nb_e) [rad/s]");
59 desc.emplace_back(
"AngularRateY ECEF (ω_nb_e) [rad/s]");
60 desc.emplace_back(
"AngularRateZ ECEF (ω_nb_e) [rad/s]");
76 [[nodiscard]] std::optional<double>
getValueAt(
size_t idx)
const override
#define INS_ASSERT(_EXPR)
Assert function wrapper.
Definition Assert.h:19
Data storage class for one VectorNavImu observation.
VectorNav Observation storage Class.
Definition ImuObsSimulated.hpp:22
Eigen::Vector3d e_accelDynamics
The acceleration derived from the trajectory in [m/s^2], given in the ECEF frame.
Definition ImuObsSimulated.hpp:135
static std::vector< std::string > GetStaticDataDescriptors()
Returns a vector of data descriptors.
Definition ImuObsSimulated.hpp:46
static constexpr size_t GetStaticDescriptorCount()
Get the amount of descriptors.
Definition ImuObsSimulated.hpp:65
Eigen::Vector3d e_angularRateDynamics
The angular rate ω_nb_e derived from the trajectory in [rad/s], given in the ECEF frame.
Definition ImuObsSimulated.hpp:137
std::vector< std::string > staticDataDescriptors() const override
Returns a vector of data descriptors.
Definition ImuObsSimulated.hpp:68
Eigen::Vector3d n_angularRateDynamics
The angular rate ω_nb_n derived from the trajectory in [rad/s], given in the NED frame.
Definition ImuObsSimulated.hpp:132
static std::string type()
Returns the type of the data class.
Definition ImuObsSimulated.hpp:31
std::optional< double > getValueAt(size_t idx) const override
Get the value at the index.
Definition ImuObsSimulated.hpp:76
static std::vector< std::string > parentTypes()
Returns the parent types of the data class.
Definition ImuObsSimulated.hpp:38
size_t staticDescriptorCount() const override
Get the amount of descriptors.
Definition ImuObsSimulated.hpp:71
Eigen::Vector3d n_accelDynamics
The acceleration derived from the trajectory in [m/s^2], given in the NED frame.
Definition ImuObsSimulated.hpp:130
ImuObsSimulated(const ImuPos &imuPos)
Constructor.
Definition ImuObsSimulated.hpp:26
VectorNav Observation storage Class.
Definition ImuObsWDelta.hpp:22
static std::string type()
Returns the type of the data class.
Definition ImuObsWDelta.hpp:31
static std::vector< std::string > GetStaticDataDescriptors()
Returns a vector of data descriptors.
Definition ImuObsWDelta.hpp:44
std::optional< double > getValueAt(size_t idx) const override
Get the value at the index.
Definition ImuObsWDelta.hpp:69
static std::vector< std::string > parentTypes()
Returns the parent types of the data class.
Definition ImuObsWDelta.hpp:38
const ImuPos & imuPos
Position and rotation information for conversion from platform to body frame.
Definition ImuObs.hpp:115
IMU Position.
Definition ImuPos.hpp:26