VectorNav Observation storage Class. More...

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

	ImuObsSimulated (const ImuPos &imuPos)
	Constructor.

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

	ImuObsWDelta (const ImuPos &imuPos)
	Constructor.

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::ImuObs
	ImuObs (const ImuPos &imuPos)
	Constructor.

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.

	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	~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::ImuObsWDelta
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::ImuObs
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.

Public Attributes
Eigen::Vector3d	e_accelDynamics
	The acceleration derived from the trajectory in [m/s^2], given in the ECEF frame.

Eigen::Vector3d	e_angularRateDynamics
	The angular rate ω_nb_e derived from the trajectory in [rad/s], given in the ECEF frame.

Eigen::Vector3d	n_accelDynamics
	The acceleration derived from the trajectory in [m/s^2], given in the NED frame.

Eigen::Vector3d	n_angularRateDynamics
	The angular rate ω_nb_n derived from the trajectory in [rad/s], given in the NED frame.

Public Attributes inherited from NAV::ImuObsWDelta
Eigen::Vector3d	dtheta

double	dtime
	The time interval that the delta angle and velocities are integrated over in [seconds].

Eigen::Vector3d	dvel

Public Attributes inherited from NAV::ImuObs
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].

std::optional< uint64_t >	timeSinceStartup
	The system time since startup measured in [nano seconds].

Public Attributes 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

VectorNav Observation storage Class.

Constructor & Destructor Documentation

◆ ImuObsSimulated()

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

inlineexplicit

Constructor.

Parameters

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

Member Function Documentation

◆ getValueAt()

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

inlineoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns: Value if in the observation

Reimplemented from NAV::ImuObs.

◆ parentTypes()

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

inlinestatic

Returns the parent types of the data class.

Returns: The parent data types

◆ type()

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

inlinestatic

Returns the type of the data class.

Returns: The data type

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

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

Public Member Functions

Static Public Member Functions

Public Attributes