33template<
typename ReceiverType>
47 Eigen::Vector3d
e_vel = Eigen::Vector3d::Zero();
51 std::unordered_map<Frequency, UncertainValue<double>>
interFrequencyBias = std::unordered_map<Frequency, UncertainValue<double>>{};
53 std::shared_ptr<const GnssObs>
gnssObs =
nullptr;
61 Eigen::Vector3d n_antennaDelta = Eigen::Vector3d(0.0, 0.0, -
gnssObs->receiverInfo->get().antennaDeltaNEU.z());
86 Eigen::Vector3d e_posAPC =
e_posARP();
89 if (
auto neu_antennaPhaseCenterOffset =
AntexReader::Get().getAntennaPhaseCenterOffsetToARP(antennaType,
95 Eigen::Vector3d n_antennaPhaseCenterOffset = Eigen::Vector3d(0.0, 0.0, -neu_antennaPhaseCenterOffset->z());
113 if (
auto neu_antennaPhaseCenterOffset =
AntexReader::Get().getAntennaPhaseCenterOffsetToARP(antennaType,
119 lla_posAPC.z() += neu_antennaPhaseCenterOffset->z();
Transformation collection.
Frequency definition for different satellite systems.
Frequency_
Enumerate for GNSS frequencies.
Definition Frequency.hpp:26
GNSS Observation messages.
Receiver Clock information.
static AntexReader & Get()
Get the static Instance of the reader.
Definition AntexReader.hpp:80
Frequency definition for different satellite systems.
Definition Frequency.hpp:59
Receiver Clock information.
Definition ReceiverClock.hpp:26
Receiver information.
Definition Receiver.hpp:35
std::shared_ptr< const GnssObs > gnssObs
Latest GNSS observation.
Definition Receiver.hpp:53
Receiver(ReceiverType type)
Constructor.
Definition Receiver.hpp:38
Eigen::Vector3d e_posARP() const
Antenna Reference Point position in ECEF frame [m] (Marker + antennaDeltaNEU)
Definition Receiver.hpp:56
Eigen::Vector3d lla_posMarker
Marker Position in LLA frame [rad, rad, m].
Definition Receiver.hpp:45
Eigen::Vector3d lla_posAntennaPhaseCenter(Frequency freq, const std::string &antennaType, const std::string &nameId) const
Marker position in LLA frame [rad, rad, m] (ARP + antenna phase center)
Definition Receiver.hpp:108
Eigen::Vector3d lla_posARP() const
Antenna Reference Point position in LLA frame [rad, rad, m] (Marker + antennaDeltaNEU)
Definition Receiver.hpp:70
std::unordered_map< Frequency, UncertainValue< double > > interFrequencyBias
Inter frequency biases.
Definition Receiver.hpp:51
ReceiverType type
Receiver Type.
Definition Receiver.hpp:41
Eigen::Vector3d e_posMarker
Marker Position in ECEF frame [m].
Definition Receiver.hpp:43
Eigen::Vector3d e_vel
Velocity in ECEF frame [m/s].
Definition Receiver.hpp:47
Eigen::Vector3d e_posAntennaPhaseCenter(Frequency freq, const std::string &antennaType, const std::string &nameId) const
Marker position in ECEF frame [m] (ARP + antenna phase center)
Definition Receiver.hpp:84
ReceiverClock recvClk
Estimated receiver clock parameters.
Definition Receiver.hpp:49