IMU Observation storage class. More...

Public Member Functions
std::string	getType () const override
	Returns the type of the data class.

std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.

	ImuObs (const ImuPos &imuPos)
	Constructor.

bool	setValueAt (size_t idx, double value) override
	Set the value at the index.

std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.

size_t	staticDescriptorCount () const override
	Get the amount of descriptors.

Public Member Functions inherited from NAV::NodeData
void	addEvent (const std::string &text)
	Adds the event to the list.

virtual std::vector< std::string >	dynamicDataDescriptors () const
	Returns a vector of data descriptors for the dynamic data.

const std::vector< std::string > &	events () const
	Returns a vector of string events associated with this data.

virtual std::vector< std::pair< std::string, double > >	getDynamicData () const
	Returns a vector of data descriptors and values for the dynamic data.

virtual std::optional< double >	getDynamicDataAt (const std::string &) const
	Get the value for the descriptor.

double	getValueAtOrNaN (size_t idx) const
	Get the value at the index or NaN if not in the observation.

virtual void	guiTooltip (bool detailView, bool firstOpen, const char displayName, const char id, int *rootWindow) const
	Shows a GUI tooltip to look into details of the observation.

virtual bool	hasTooltip () const
	Return whether this data has a tooltip.

	NodeData ()=default
	Default constructor.

	NodeData (const NodeData &)=default
	Copy constructor.

	NodeData (NodeData &&)=default
	Move constructor.

NodeData &	operator= (const NodeData &)=default
	Copy assignment operator.

NodeData &	operator= (NodeData &&)=default
	Move assignment operator.

virtual bool	setDynamicDataAt (const std::string &, double)
	Set the value for the descriptor.

virtual	~NodeData ()=default
	Destructor.

Static Public Member Functions
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Static Public Member Functions inherited from NAV::NodeData
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.

static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.

static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.

static std::string	type ()
	Returns the type of the data class.

Data Fields
const ImuPos &	imuPos
	Position and rotation information for conversion from platform to body frame.

Eigen::Vector3d	p_acceleration
	The IMU acceleration measured in units of [m/s^2], given in the platform frame.

Eigen::Vector3d	p_angularRate
	The IMU angular rate measured in units of [rad/s], given in the platform frame.

std::optional< Eigen::Vector3d >	p_magneticField
	The IMU magnetic field measured in units of [Gauss], given in the platform frame.

std::optional< double >	temperature
	The IMU temperature measured in units of [Celsius].

Data Fields inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

Additional Inherited Members
Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Detailed Description

IMU Observation storage class.

Definition at line 23 of file ImuObs.hpp.

Constructor & Destructor Documentation

◆ ImuObs()

NAV::ImuObs::ImuObs ( const ImuPos & imuPos )

inlineexplicit

Constructor.

Parameters

[in] imuPos Reference to the position and rotation info of the Imu

Definition at line 28 of file ImuObs.hpp.

Member Function Documentation

◆ GetStaticDataDescriptors()

static std::vector< std::string > NAV::ImuObs::GetStaticDataDescriptors ( )

inlinestaticnodiscard

Returns a vector of data descriptors.

Definition at line 50 of file ImuObs.hpp.

◆ GetStaticDescriptorCount()

static constexpr size_t NAV::ImuObs::GetStaticDescriptorCount ( )

inlinestaticnodiscardconstexpr

Get the amount of descriptors.

Definition at line 67 of file ImuObs.hpp.

◆ getType()

std::string NAV::ImuObs::getType ( ) const

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns: The data type

Reimplemented from NAV::NodeData.

Reimplemented in NAV::ImuObsSimulated, NAV::ImuObsWDelta, and NAV::KvhObs.

Definition at line 40 of file ImuObs.hpp.

◆ getValueAt()

std::optional< double > NAV::ImuObs::getValueAt ( size_t idx ) const

inlinenodiscardoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns: Value if in the observation

Reimplemented from NAV::NodeData.

Reimplemented in NAV::ImuObsSimulated, NAV::ImuObsWDelta, and NAV::KvhObs.

Definition at line 78 of file ImuObs.hpp.

◆ parentTypes()

static std::vector< std::string > NAV::ImuObs::parentTypes ( )

inlinestaticnodiscard

Returns the parent types of the data class.

Returns: The parent data types

Definition at line 44 of file ImuObs.hpp.

◆ setValueAt()

bool NAV::ImuObs::setValueAt	(	size_t	idx,
		double	value )

inlinenodiscardoverridevirtual

Set the value at the index.

Parameters

idx	Index corresponding to data descriptor order
value	Value to set

Returns: True if the value was updated

Reimplemented from NAV::NodeData.

Reimplemented in NAV::ImuObsSimulated, and NAV::ImuObsWDelta.

Definition at line 116 of file ImuObs.hpp.

◆ staticDataDescriptors()

std::vector< std::string > NAV::ImuObs::staticDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::NodeData.

Reimplemented in NAV::ImuObsSimulated, NAV::ImuObsWDelta, and NAV::KvhObs.

Definition at line 70 of file ImuObs.hpp.

◆ staticDescriptorCount()

size_t NAV::ImuObs::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::NodeData.

Reimplemented in NAV::ImuObsSimulated, NAV::ImuObsWDelta, and NAV::KvhObs.

Definition at line 73 of file ImuObs.hpp.

◆ type()

static std::string NAV::ImuObs::type ( )

inlinestaticnodiscard

Returns the type of the data class.

Returns: The data type

Definition at line 33 of file ImuObs.hpp.

Field Documentation

◆ imuPos

const ImuPos& NAV::ImuObs::imuPos

Position and rotation information for conversion from platform to body frame.

Definition at line 172 of file ImuObs.hpp.

◆ p_acceleration

Eigen::Vector3d NAV::ImuObs::p_acceleration

The IMU acceleration measured in units of [m/s^2], given in the platform frame.

Definition at line 175 of file ImuObs.hpp.

◆ p_angularRate

Eigen::Vector3d NAV::ImuObs::p_angularRate

The IMU angular rate measured in units of [rad/s], given in the platform frame.

Definition at line 177 of file ImuObs.hpp.

◆ p_magneticField

std::optional<Eigen::Vector3d> NAV::ImuObs::p_magneticField

The IMU magnetic field measured in units of [Gauss], given in the platform frame.

Definition at line 180 of file ImuObs.hpp.

◆ temperature

std::optional<double> NAV::ImuObs::temperature

The IMU temperature measured in units of [Celsius].

Definition at line 182 of file ImuObs.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/NodeData/IMU/ImuObs.hpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ImuObs()

Member Function Documentation

◆ GetStaticDataDescriptors()

◆ GetStaticDescriptorCount()

◆ getType()

◆ getValueAt()

◆ parentTypes()

◆ setValueAt()

◆ staticDataDescriptors()

◆ staticDescriptorCount()

◆ type()

Field Documentation

◆ imuPos

◆ p_acceleration

◆ p_angularRate

◆ p_magneticField

◆ temperature