Attitude System Model. More...

Public Member Functions
template<typename Derived>
std::pair< KeyedMatrix4d< StateKeyType >, KeyedMatrix4d< StateKeyType > >	calcPhiAndQ (double dt, const double &latitude, const double &longitude, const Eigen::QuaternionBase< Derived > &n_quat_b)
	Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐)

void	initialize ()
	Initializes the attitude model.

bool	ShowGui (float itemWidth, float unitWidth, const char *id)
	Shows a GUI.

template<typename Scalar, int Size, typename Derived>
void	updatePhiAndQ (KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &Phi, KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &Q, double dt, const double &latitude, const double &longitude, const Eigen::QuaternionBase< Derived > &n_quat_b)
	Updates the provided Phi, Q and G matrix.

Private Member Functions
template<typename Derived>
KeyedMatrix4d< StateKeyType >	calcProcessNoiseMatrix (double dt, double latitude, double longitude, const Eigen::QuaternionBase< Derived > &n_quat_b) const
	Calculates the process noise matrix Q.

Private Attributes
Eigen::Vector3d	_covarianceAngularVelocity
	Covariance of the angular velocity due to user motion (Roll, Pitch, Yaw) [rad²/s].

Eigen::Vector3d	_gui_covarianceAngularVelocity
	GUI selection for the Standard deviation of the angular velocity due to user motion (Roll, Pitch, Yaw)

Units::CovarianceAngularVelocityUnits	_gui_covarianceAngularVelocityUnit
	Gui selection for the Unit of the input covarianceAngularVelocity.

const std::array< StateKeyType, 4 > &	Att
	All attitude keys.

Friends
void	from_json (const json &j, AttitudeModel &data)
	Converts the provided json object into the data object.

void	to_json (json &j, const AttitudeModel &data)
	Converts the provided data into a json object.

Detailed Description

template<typename StateKeyType>
class NAV::AttitudeModel< StateKeyType >

Attitude System Model.

Member Function Documentation

◆ calcPhiAndQ()

template<typename StateKeyType>

template<typename Derived>

std::pair< KeyedMatrix4d< StateKeyType >, KeyedMatrix4d< StateKeyType > > NAV::AttitudeModel< StateKeyType >::calcPhiAndQ	(	double	dt,
		const double &	latitude,
		const double &	longitude,
		const Eigen::QuaternionBase< Derived > &	n_quat_b )

inlinenodiscard

Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐)

Parameters

[in]	dt	Time step size in [s]
[in]	latitude	Latitude [rad]
[in]	longitude	Longitude [rad]
[in]	n_quat_b	Quaternion body to navigation frame

Returns: Phi and Q matrix

◆ calcProcessNoiseMatrix()

template<typename StateKeyType>

template<typename Derived>

KeyedMatrix4d< StateKeyType > NAV::AttitudeModel< StateKeyType >::calcProcessNoiseMatrix	(	double	dt,
		double	latitude,
		double	longitude,
		const Eigen::QuaternionBase< Derived > &	n_quat_b ) const

inlinenodiscardprivate

Calculates the process noise matrix Q.

Parameters

[in]	dt	Time step [s]
[in]	latitude	Latitude [rad]
[in]	longitude	Longitude [rad]
[in]	n_quat_b	Quaternion body to navigation frame

◆ ShowGui()

template<typename StateKeyType>

bool NAV::AttitudeModel< StateKeyType >::ShowGui	(	float	itemWidth,
		float	unitWidth,
		const char *	id )

inline

Shows a GUI.

Parameters

[in]	itemWidth	Width of the space for the config items
[in]	unitWidth	Width of the units
[in]	id	Unique id for ImGui

Returns: True if something was changed

◆ updatePhiAndQ()

template<typename StateKeyType>

template<typename Scalar, int Size, typename Derived>

void NAV::AttitudeModel< StateKeyType >::updatePhiAndQ	(	KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	Phi,
		KeyedMatrix< Scalar, StateKeyType, StateKeyType, Size, Size > &	Q,
		double	dt,
		const double &	latitude,
		const double &	longitude,
		const Eigen::QuaternionBase< Derived > &	n_quat_b )

inline

Updates the provided Phi, Q and G matrix.

Parameters

[in,out]	Phi	State transition matrix
[in,out]	Q	System/Process noise covariance matrix
[in]	dt	Time step size in [s]
[in]	latitude	Latitude [rad]
[in]	longitude	Longitude [rad]
[in]	n_quat_b	Quaternion body to navigation frame

Friends And Related Symbol Documentation

◆ from_json

template<typename StateKeyType>

void from_json	(	const json &	j,
		AttitudeModel< StateKeyType > &	data )

friend

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

template<typename StateKeyType>

void to_json	(	json &	j,
		const AttitudeModel< StateKeyType > &	data )

friend

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

The documentation for this class was generated from the following file:

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/SystemModel/AttitudeModel.hpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

◆ calcPhiAndQ()

◆ calcProcessNoiseMatrix()

◆ ShowGui()

◆ updatePhiAndQ()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json