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NAV::ImuObs Class Reference

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.
 
NodeDataoperator= (const NodeData &)=default
 Copy assignment operator.
 
NodeDataoperator= (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 ImuPosimuPos
 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]imuPosReference 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
idxIndex 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
idxIndex corresponding to data descriptor order
valueValue 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: