VectorNav Observation storage Class. More...

Public Member Functions
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::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	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

◆ ImuObsWDelta()

NAV::ImuObsWDelta::ImuObsWDelta ( 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::ImuObsWDelta::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::ImuObsWDelta::parentTypes ( )

inlinestatic

Returns the parent types of the data class.

Returns: The parent data types

◆ type()

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

inlinestatic

Returns the type of the data class.

Returns: The data type

Member Data Documentation

◆ dtheta

Eigen::Vector3d NAV::ImuObsWDelta::dtheta

The delta rotation angles in [degree] incurred due to rotation, by the local platform reference frame, since the last time the values were outputted by the device.

◆ dvel

Eigen::Vector3d NAV::ImuObsWDelta::dvel

The delta velocity in [m/s] incurred due to motion, by the local platform reference frame, since the last time the values were outputted by the device.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members