32 [[nodiscard]]
static std::string
type()
34 return "ImuObsWDelta";
39 [[nodiscard]] std::string
getType()
const override {
return type(); }
52 desc.emplace_back(
"dTime [s]");
53 desc.emplace_back(
"dTheta X [deg]");
54 desc.emplace_back(
"dTheta Y [deg]");
55 desc.emplace_back(
"dTheta Z [deg]");
56 desc.emplace_back(
"dVelocity X [m/s]");
57 desc.emplace_back(
"dVelocity Y [m/s]");
58 desc.emplace_back(
"dVelocity Z [m/s]");
74 [[nodiscard]] std::optional<double>
getValueAt(
size_t idx)
const override
104 [[nodiscard]]
bool setValueAt(
size_t idx,
double value)
override
#define INS_ASSERT(_EXPR)
Assert function wrapper.
Parent Class for all IMU Observations.
std::string getType() const override
Returns the type of the data class.
bool setValueAt(size_t idx, double value) override
Set the value at the index.
static constexpr size_t GetStaticDescriptorCount()
Get the amount of descriptors.
double dtime
The time interval that the delta angle and velocities are integrated over in [seconds].
size_t staticDescriptorCount() const override
Get the amount of descriptors.
static std::string type()
Returns the type of the data class.
static std::vector< std::string > GetStaticDataDescriptors()
Returns a vector of data descriptors.
ImuObsWDelta(const ImuPos &imuPos)
Constructor.
std::optional< double > getValueAt(size_t idx) const override
Get the value at the index.
static std::vector< std::string > parentTypes()
Returns the parent types of the data class.
std::vector< std::string > staticDataDescriptors() const override
Returns a vector of data descriptors.
bool setValueAt(size_t idx, double value) override
Set the value at the index.
static std::string type()
Returns the type of the data class.
static std::vector< std::string > GetStaticDataDescriptors()
Returns a vector of data descriptors.
static constexpr size_t GetStaticDescriptorCount()
Get the amount of descriptors.
std::optional< double > getValueAt(size_t idx) const override
Get the value at the index.
ImuObs(const ImuPos &imuPos)
Constructor.
const ImuPos & imuPos
Position and rotation information for conversion from platform to body frame.
constexpr auto deg2rad(const T °)
Convert Degree to Radians.
constexpr auto rad2deg(const T &rad)
Convert Radians to Degree.