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0.4.1
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Imu Observation Simulator. More...
Public Member Functions | |
void | guiConfig () override |
ImGui config window which is shown on double click. | |
ImuSimulator () | |
Default constructor. | |
ImuSimulator (const ImuSimulator &)=delete | |
Copy constructor. | |
ImuSimulator (ImuSimulator &&)=delete | |
Move constructor. | |
ImuSimulator & | operator= (const ImuSimulator &)=delete |
Copy assignment operator. | |
ImuSimulator & | operator= (ImuSimulator &&)=delete |
Move assignment operator. | |
bool | resetNode () override |
Resets the node. Moves the read cursor to the start. | |
void | restore (const json &j) override |
Restores the node from a json object. | |
json | save () const override |
Saves the node into a json object. | |
std::string | type () const override |
String representation of the Class Type. | |
~ImuSimulator () override | |
Destructor. | |
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Imu (const Imu &)=delete | |
Copy constructor. | |
Imu (Imu &&)=delete | |
Move constructor. | |
const ImuPos & | imuPosition () const |
Position and rotation information for conversion from platform to body frame. | |
Imu & | operator= (const Imu &)=delete |
Copy assignment operator. | |
Imu & | operator= (Imu &&)=delete |
Move assignment operator. | |
~Imu () override=default | |
Destructor. | |
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virtual void | afterCreateLink (OutputPin &startPin, InputPin &endPin) |
Called when a new link was established. | |
virtual void | afterDeleteLink (OutputPin &startPin, InputPin &endPin) |
Called when a link was deleted. | |
bool | doDeinitialize (bool wait=false) |
Asks the node worker to deinitialize the node. | |
bool | doDisable (bool wait=false) |
Asks the node worker to disable the node. | |
bool | doEnable () |
Enable the node. | |
bool | doInitialize (bool wait=false) |
Asks the node worker to initialize the node. | |
bool | doReinitialize (bool wait=false) |
Asks the node worker to reinitialize the node. | |
virtual void | flush () |
Function called by the flow executer after finishing to flush out remaining data. | |
template<typename T> | |
std::optional< InputPin::IncomingLink::ValueWrapper< T > > | getInputValue (size_t portIndex) const |
Get Input Value connected on the pin. Only const data types. | |
Mode | getMode () const |
Get the current mode of the node. | |
const ImVec2 & | getSize () const |
Get the size of the node. | |
State | getState () const |
Get the current state of the node. | |
bool | hasInputPinWithSameTime (const InsTime &insTime) const |
Checks wether there is an input pin with the same time. | |
InputPin & | inputPinFromId (ax::NodeEditor::PinId pinId) |
Returns the pin with the given id. | |
size_t | inputPinIndexFromId (ax::NodeEditor::PinId pinId) const |
Returns the index of the pin. | |
void | invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data) |
Calls all registered callbacks on the specified output port. | |
bool | isDisabled () const |
Checks if the node is disabled. | |
bool | isInitialized () const |
Checks if the node is initialized. | |
bool | isOnlyRealtime () const |
Checks if the node is only working in real time (sensors, network interfaces, ...) | |
bool | isTransient () const |
Checks if the node is changing its state currently. | |
std::string | nameId () const |
Node name and id. | |
Node (const Node &)=delete | |
Copy constructor. | |
Node (Node &&)=delete | |
Move constructor. | |
Node (std::string name) | |
Constructor. | |
void | notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard) |
Notifies connected nodes about the change. | |
virtual bool | onCreateLink (OutputPin &startPin, InputPin &endPin) |
Called when a new link is to be established. | |
virtual void | onDeleteLink (OutputPin &startPin, InputPin &endPin) |
Called when a link is to be deleted. | |
Node & | operator= (const Node &)=delete |
Copy assignment operator. | |
Node & | operator= (Node &&)=delete |
Move assignment operator. | |
OutputPin & | outputPinFromId (ax::NodeEditor::PinId pinId) |
Returns the pin with the given id. | |
size_t | outputPinIndexFromId (ax::NodeEditor::PinId pinId) const |
Returns the index of the pin. | |
void | releaseInputValue (size_t portIndex) |
Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called. | |
std::scoped_lock< std::mutex > | requestOutputValueLock (size_t pinIdx) |
Blocks the thread till the output values was read by all connected nodes. | |
virtual void | restoreAtferLink (const json &j) |
Restores link related properties of the node from a json object. | |
void | wakeWorker () |
Wakes the worker thread. | |
virtual | ~Node () |
Destructor. | |
Static Public Member Functions | |
static std::string | category () |
String representation of the Class Category. | |
static std::string | typeStatic () |
String representation of the Class Type. | |
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static std::string | toString (State state) |
Converts the state into a printable text. | |
Private Types | |
enum class | Direction : uint8_t { CW , CCW , COUNT } |
Possible directions for the circular trajectory. More... | |
enum class | StartTimeSource : uint8_t { CustomTime , CurrentComputerTime } |
Types where the start time should be pulled from. More... | |
enum | StopCondition : uint8_t { Duration , DistanceOrCirclesOrRoses } |
Possible stop conditions for the simulation. More... | |
enum class | TrajectoryType : uint8_t { Fixed , Linear , Circular , Csv , RoseFigure , COUNT } |
Types of Trajectories available for simulation. More... | |
Private Member Functions | |
std::array< double, 3 > | calcFlightAngles (double time) const |
Calculates the flight angles (roll, pitch, yaw) | |
bool | checkStopCondition (double time, const Eigen::Vector3d &lla_position) |
Checks the selected stop condition. | |
void | deinitialize () override |
Deinitialize the node. | |
std::optional< Eigen::Vector3d > | e_getPositionFromCsvLine (const CsvData::CsvLine &line, const std::vector< std::string > &description) const |
Get the Position from a CSV line. | |
std::optional< InsTime > | getTimeFromCsvLine (const CsvData::CsvLine &line, const std::vector< std::string > &description) const |
Get the Time from a CSV line. | |
bool | initialize () override |
Initialize the node. | |
bool | initializeSplines () |
Initializes the spline values. | |
Eigen::Vector3d | lla_calcPosition (double time) const |
Calculates the position in latLonAlt at the given time depending on the trajectoryType. | |
Eigen::Vector3d | n_calcOmega_nb (double time, const Eigen::Vector3d &rollPitchYaw, const Eigen::Quaterniond &n_Quat_b) const |
Calculates ω_nb_n, the turn rate of the body with respect to the navigation system expressed in NED coordinates. | |
Eigen::Vector3d | n_calcTrajectoryAccel (double time, const Eigen::Quaterniond &n_Quat_e, const Eigen::Vector3d &lla_position, const Eigen::Vector3d &n_velocity) const |
Calculates the acceleration in local-navigation frame coordinates at the given time depending on the trajectoryType. | |
Eigen::Vector3d | n_calcVelocity (double time, const Eigen::Quaterniond &n_Quat_e) const |
Calculates the velocity in local-navigation frame coordinates at the given time depending on the trajectoryType. | |
std::optional< Eigen::Quaterniond > | n_getAttitudeQuaternionFromCsvLine_b (const CsvData::CsvLine &line, const std::vector< std::string > &description) const |
Get the Attitude quaternion n_quat_b from a CSV line. | |
std::shared_ptr< const NodeData > | pollImuObs (size_t pinIdx, bool peek) |
Polls the next simulated data. | |
std::shared_ptr< const NodeData > | pollPosVelAtt (size_t pinIdx, bool peek) |
Polls the next simulated data. | |
Static Private Member Functions | |
static const char * | to_string (Direction value) |
Converts the enum to a string. | |
static const char * | to_string (TrajectoryType value) |
Converts the enum to a string. | |
Private Attributes | ||
bool | _angularRateEarthRotationEnabled | |
Apply the Earth rotation rate to the measured angular rates. | ||
bool | _angularRateTransportRateEnabled | |
Apply the transport rate to the measured angular rates. | ||
bool | _centrifgalAccelerationEnabled | |
Apply the centrifugal acceleration to the measured accelerations. | ||
double | _circularHarmonicAmplitudeFactor | |
Harmonic Oscillation Amplitude Factor of the circle radius [-]. | ||
int | _circularHarmonicFrequency | |
Harmonic Oscillation Frequency on the circular trajectory [cycles/revolution]. | ||
double | _circularTrajectoryCircleCountForStop | |
Amount of circles to simulate before stopping. | ||
bool | _coriolisAccelerationEnabled | |
Apply the coriolis acceleration to the measured accelerations. | ||
double | _csvDuration | |
Duration from the CSV file in [s]. | ||
Eigen::Vector3d | _fixedTrajectoryStartOrientation | |
Orientation of the vehicle [roll, pitch, yaw] [rad]. | ||
double | _gnssFrequency | |
Frequency to sample the position with in [Hz]. | ||
double | _gnssLastUpdateTime | |
Last time the GNSS message was calculated in [s]. | ||
uint64_t | _gnssUpdateCnt | |
Counter to calculate the GNSS update time. | ||
GravitationModel | _gravitationModel | |
Gravitation model selected in the GUI. | ||
double | _imuFrequency | |
Frequency to sample the IMU with in [Hz]. | ||
double | _imuInternalFrequency | |
Frequency to calculate the delta IMU values in [Hz]. | ||
uint64_t | _imuInternalUpdateCnt | |
Counter to calculate the internal IMU update time. | ||
double | _imuLastUpdateTime | |
Last time the IMU message was calculated in [s]. | ||
uint64_t | _imuUpdateCnt | |
Counter to calculate the IMU update time. | ||
double | _linearTrajectoryDistanceForStop | |
Distance in [m] to the start position to stop the simulation. | ||
Eigen::Vector3d | _lla_gnssLastLinearPosition | |
Last calculated position for the GNSS in linear mode for iterative calculations as latitude, longitude, altitude [rad, rad, m]. | ||
Eigen::Vector3d | _lla_imuLastLinearPosition | |
Last calculated position for the IMU in linear mode for iterative calculations as latitude, longitude, altitude [rad, rad, m]. | ||
Eigen::Vector3d | _n_linearTrajectoryStartVelocity | |
Start Velocity of the vehicle in local-navigation frame cooridnates in [m/s]. | ||
Eigen::Vector3d | _p_lastImuAccelerationMeas | |
Last calculated acceleration measurement in platform coordinates [m/s²]. | ||
Eigen::Vector3d | _p_lastImuAngularRateMeas | |
Last calculated angular rate measurement in platform coordinates [rad/s]. | ||
int | _rosePetDenom | |
In the GUI selected denominator of petals (2*k for even k, k for uneven k) of the rose figure. | ||
int | _rosePetNum | |
In the GUI selected numerator of petals (2*k for even k, k for uneven k) of the rose figure. | ||
double | _roseSimDuration | |
Simulation duration needed for the rose figure. | ||
double | _roseStepLengthMax | |
Maxmimum step length for the spline points for the rose figure [m]. Points will be spaced between [L/3 L]. | ||
double | _roseTrajectoryCountForStop | |
Amount of rose figures to simulate before stopping. | ||
double | _simulationDuration | |
Duration to simulate in [s]. | ||
StopCondition | _simulationStopCondition | |
Condition which has to be met to stop the simulation. | ||
struct { | ||
CubicSpline< long double > pitch | ||
Pitch angle [rad]. More... | ||
CubicSpline< long double > roll | ||
Roll angle [rad]. More... | ||
double sampleInterval | ||
Spline sample interval. More... | ||
CubicSpline< long double > x | ||
ECEF X Position [m]. More... | ||
CubicSpline< long double > y | ||
ECEF Y Position [m]. More... | ||
CubicSpline< long double > yaw | ||
Yaw angle [rad]. More... | ||
CubicSpline< long double > z | ||
ECEF Z Position [m]. More... | ||
} | _splines | |
Assign a variable that holds the Spline information. | ||
gui::widgets::PositionWithFrame | _startPosition | |
InsTime | _startTime | |
Global starttime. | ||
gui::widgets::TimeEditFormat | _startTimeEditFormat | |
Time Format to input the start time with. | ||
StartTimeSource | _startTimeSource | |
Source for the start time, selected in the GUI. | ||
Direction | _trajectoryDirection | |
In the GUI selected direction of the circular trajectory (used by circular and rose figure) | ||
double | _trajectoryHorizontalSpeed | |
Horizontal speed of the vehicle in the tangential plane in [m/s] (used by circular and rose figure) | ||
double | _trajectoryRadius | |
In the GUI selected radius of the circular trajectory (used by circular and rose figure) | ||
double | _trajectoryRotationAngle | |
In the GUI selected origin angle of the circular trajectory in [rad]. | ||
TrajectoryType | _trajectoryType | |
Selected trajectory type in the GUI. | ||
double | _trajectoryVerticalSpeed | |
Vertical speed of the vehicle in the tangential plane in [m/s] (used by circular and rose figure) | ||
Static Private Attributes | |
static constexpr size_t | INPUT_PORT_INDEX_CSV |
Object (CsvData) | |
static constexpr double | INTERNAL_LINEAR_UPDATE_FREQUENCY |
Update rate for the internal solution of linear movement in [Hz]. | |
static constexpr size_t | OUTPUT_PORT_INDEX_IMU_OBS |
Flow (ImuObs) | |
static constexpr size_t | OUTPUT_PORT_INDEX_POS_VEL_ATT |
Flow (PosVelAtt) | |
Additional Inherited Members | |
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enum class | Mode : uint8_t { REAL_TIME , POST_PROCESSING } |
Different Modes the Node can work in. More... | |
enum class | State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown } |
Possible states of the node. More... | |
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bool | callbacksEnabled |
Enables the callbacks. | |
ax::NodeEditor::NodeId | id |
Unique Id of the Node. | |
std::vector< InputPin > | inputPins |
List of input pins. | |
Kind | kind |
Kind of the Node. | |
std::string | name |
Name of the Node. | |
std::vector< OutputPin > | outputPins |
List of output pins. | |
std::multimap< InsTime, std::pair< OutputPin *, size_t > > | pollEvents |
Map with callback events (sorted by time) | |
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Imu (std::string name) | |
Constructor. | |
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ImuPos | _imuPos |
Position and rotation information for conversion from platform to body frame. | |
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ImVec2 | _guiConfigDefaultWindowSize |
bool | _hasConfig |
Flag if the config window should be shown. | |
bool | _lockConfigDuringRun |
Lock the config when executing post-processing. | |
bool | _onlyRealTime |
Whether the node can run in post-processing or only real-time. | |
Imu Observation Simulator.
Definition at line 33 of file ImuSimulator.hpp.
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strongprivate |
Possible directions for the circular trajectory.
Enumerator | |
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CW | Clockwise. |
CCW | Counterclockwise. |
COUNT | Amount of items in the enum. |
Definition at line 167 of file ImuSimulator.hpp.
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strongprivate |
Types where the start time should be pulled from.
Enumerator | |
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CustomTime | Custom time selected by the user. |
CurrentComputerTime | Gets the current computer time as start time. |
Definition at line 104 of file ImuSimulator.hpp.
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private |
Possible stop conditions for the simulation.
Enumerator | |
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Duration | Time Duration. |
DistanceOrCirclesOrRoses | Distance for Linear trajectory / Circle count for Circular / Count for rose figure trajectory. |
Definition at line 208 of file ImuSimulator.hpp.
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strongprivate |
Types of Trajectories available for simulation.
Enumerator | |
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Fixed | Static position without movement. |
Linear | Linear movement with constant velocity. |
Circular | Circular path. |
Csv | Get the input from the CsvData pin. |
RoseFigure | Movement along a mathmatical rose figure. |
COUNT | Amount of items in the enum. |
Definition at line 131 of file ImuSimulator.hpp.
NAV::ImuSimulator::ImuSimulator | ( | ) |
Default constructor.
Definition at line 36 of file ImuSimulator.cpp.
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override |
Destructor.
Definition at line 48 of file ImuSimulator.cpp.
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delete |
Copy constructor.
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delete |
Move constructor.
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nodiscardprivate |
Calculates the flight angles (roll, pitch, yaw)
[in] | time | Time in [s] |
Definition at line 1726 of file ImuSimulator.cpp.
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staticnodiscard |
String representation of the Class Category.
Definition at line 63 of file ImuSimulator.cpp.
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private |
Checks the selected stop condition.
[in] | time | Current simulation time |
[in] | lla_position | Current position |
Definition at line 1503 of file ImuSimulator.cpp.
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overrideprivatevirtual |
Deinitialize the node.
Reimplemented from NAV::Node.
Definition at line 1451 of file ImuSimulator.cpp.
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nodiscardprivate |
Get the Position from a CSV line.
[in] | line | Line with data from the csv |
[in] | description | Description of the data |
Definition at line 892 of file ImuSimulator.cpp.
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nodiscardprivate |
Get the Time from a CSV line.
[in] | line | Line with data from the csv |
[in] | description | Description of the data |
Definition at line 846 of file ImuSimulator.cpp.
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overridevirtual |
ImGui config window which is shown on double click.
Reimplemented from NAV::Imu.
Definition at line 68 of file ImuSimulator.cpp.
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overrideprivatevirtual |
Initialize the node.
Reimplemented from NAV::Node.
Definition at line 1444 of file ImuSimulator.cpp.
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private |
Initializes the spline values.
Definition at line 966 of file ImuSimulator.cpp.
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nodiscardprivate |
Calculates the position in latLonAlt at the given time depending on the trajectoryType.
[in] | time | Time in [s] |
Definition at line 1735 of file ImuSimulator.cpp.
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nodiscardprivate |
Calculates ω_nb_n, the turn rate of the body with respect to the navigation system expressed in NED coordinates.
[in] | time | Time in [s] |
[in] | rollPitchYaw | Gimbal angles (roll, pitch, yaw) [rad] |
[in] | n_Quat_b | Rotation quaternion from body frame to the local-navigation frame |
Definition at line 1775 of file ImuSimulator.cpp.
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nodiscardprivate |
Calculates the acceleration in local-navigation frame coordinates at the given time depending on the trajectoryType.
[in] | time | Time in [s] |
[in] | n_Quat_e | Rotation quaternion from Earth frame to local-navigation frame |
[in] | lla_position | Current position as latitude, longitude, altitude [rad, rad, m] |
[in] | n_velocity | Velocity in local-navigation frame coordinates [m/s] |
Definition at line 1751 of file ImuSimulator.cpp.
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nodiscardprivate |
Calculates the velocity in local-navigation frame coordinates at the given time depending on the trajectoryType.
[in] | time | Time in [s] |
[in] | n_Quat_e | Rotation quaternion from Earth frame to local-navigation frame |
Definition at line 1743 of file ImuSimulator.cpp.
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nodiscardprivate |
Get the Attitude quaternion n_quat_b from a CSV line.
[in] | line | Line with data from the csv |
[in] | description | Description of the data |
Definition at line 928 of file ImuSimulator.cpp.
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delete |
Copy assignment operator.
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delete |
Move assignment operator.
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nodiscardprivate |
Polls the next simulated data.
[in] | pinIdx | Index of the pin the data is requested on |
[in] | peek | Specifies if the data should be peeked or read |
Definition at line 1537 of file ImuSimulator.cpp.
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nodiscardprivate |
Polls the next simulated data.
[in] | pinIdx | Index of the pin the data is requested on |
[in] | peek | Specifies if the data should be peeked or read |
Definition at line 1685 of file ImuSimulator.cpp.
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overridevirtual |
Resets the node. Moves the read cursor to the start.
Reimplemented from NAV::Node.
Definition at line 1456 of file ImuSimulator.cpp.
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overridevirtual |
Restores the node from a json object.
[in] | j | Json object with the node state |
Reimplemented from NAV::Imu.
Definition at line 698 of file ImuSimulator.cpp.
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nodiscardoverridevirtual |
Saves the node into a json object.
Reimplemented from NAV::Imu.
Definition at line 651 of file ImuSimulator.cpp.
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staticprivate |
Converts the enum to a string.
[in] | value | Enum value to convert into text |
Definition at line 1833 of file ImuSimulator.cpp.
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staticprivate |
Converts the enum to a string.
[in] | value | Enum value to convert into text |
Definition at line 1813 of file ImuSimulator.cpp.
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nodiscardoverridevirtual |
String representation of the Class Type.
Implements NAV::Node.
Definition at line 58 of file ImuSimulator.cpp.
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staticnodiscard |
String representation of the Class Type.
Definition at line 53 of file ImuSimulator.cpp.
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Apply the Earth rotation rate to the measured angular rates.
Definition at line 243 of file ImuSimulator.hpp.
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private |
Apply the transport rate to the measured angular rates.
Definition at line 246 of file ImuSimulator.hpp.
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private |
Apply the centrifugal acceleration to the measured accelerations.
Definition at line 240 of file ImuSimulator.hpp.
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private |
Harmonic Oscillation Amplitude Factor of the circle radius [-].
Definition at line 164 of file ImuSimulator.hpp.
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private |
Harmonic Oscillation Frequency on the circular trajectory [cycles/revolution].
Definition at line 161 of file ImuSimulator.hpp.
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private |
Amount of circles to simulate before stopping.
Definition at line 227 of file ImuSimulator.hpp.
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private |
Apply the coriolis acceleration to the measured accelerations.
Definition at line 237 of file ImuSimulator.hpp.
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private |
Duration from the CSV file in [s].
Definition at line 221 of file ImuSimulator.hpp.
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private |
Orientation of the vehicle [roll, pitch, yaw] [rad].
Definition at line 155 of file ImuSimulator.hpp.
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private |
Frequency to sample the position with in [Hz].
Definition at line 126 of file ImuSimulator.hpp.
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private |
Last time the GNSS message was calculated in [s].
Definition at line 297 of file ImuSimulator.hpp.
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private |
Counter to calculate the GNSS update time.
Definition at line 289 of file ImuSimulator.hpp.
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private |
Gravitation model selected in the GUI.
Definition at line 234 of file ImuSimulator.hpp.
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private |
Frequency to sample the IMU with in [Hz].
Definition at line 124 of file ImuSimulator.hpp.
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private |
Frequency to calculate the delta IMU values in [Hz].
Definition at line 122 of file ImuSimulator.hpp.
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private |
Counter to calculate the internal IMU update time.
Definition at line 285 of file ImuSimulator.hpp.
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private |
Last time the IMU message was calculated in [s].
Definition at line 295 of file ImuSimulator.hpp.
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private |
Counter to calculate the IMU update time.
Definition at line 287 of file ImuSimulator.hpp.
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Distance in [m] to the start position to stop the simulation.
Definition at line 224 of file ImuSimulator.hpp.
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private |
Last calculated position for the GNSS in linear mode for iterative calculations as latitude, longitude, altitude [rad, rad, m].
Definition at line 301 of file ImuSimulator.hpp.
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private |
Last calculated position for the IMU in linear mode for iterative calculations as latitude, longitude, altitude [rad, rad, m].
Definition at line 299 of file ImuSimulator.hpp.
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private |
Start Velocity of the vehicle in local-navigation frame cooridnates in [m/s].
Definition at line 158 of file ImuSimulator.hpp.
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private |
Last calculated acceleration measurement in platform coordinates [m/s²].
Definition at line 303 of file ImuSimulator.hpp.
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private |
Last calculated angular rate measurement in platform coordinates [rad/s].
Definition at line 305 of file ImuSimulator.hpp.
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In the GUI selected denominator of petals (2*k for even k, k for uneven k) of the rose figure.
Definition at line 197 of file ImuSimulator.hpp.
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private |
In the GUI selected numerator of petals (2*k for even k, k for uneven k) of the rose figure.
Definition at line 194 of file ImuSimulator.hpp.
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private |
Simulation duration needed for the rose figure.
Definition at line 203 of file ImuSimulator.hpp.
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private |
Maxmimum step length for the spline points for the rose figure [m]. Points will be spaced between [L/3 L].
Definition at line 200 of file ImuSimulator.hpp.
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private |
Amount of rose figures to simulate before stopping.
Definition at line 230 of file ImuSimulator.hpp.
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private |
Duration to simulate in [s].
Definition at line 218 of file ImuSimulator.hpp.
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private |
Condition which has to be met to stop the simulation.
Definition at line 215 of file ImuSimulator.hpp.
struct { ... } NAV::ImuSimulator::_splines |
Assign a variable that holds the Spline information.
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private |
Start position in local navigation coordinates (latitude, longitude, altitude) [rad, rad, m]
Definition at line 152 of file ImuSimulator.hpp.
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private |
Global starttime.
Definition at line 117 of file ImuSimulator.hpp.
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private |
Time Format to input the start time with.
Definition at line 114 of file ImuSimulator.hpp.
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private |
Source for the start time, selected in the GUI.
Definition at line 111 of file ImuSimulator.hpp.
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private |
In the GUI selected direction of the circular trajectory (used by circular and rose figure)
Definition at line 179 of file ImuSimulator.hpp.
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private |
Horizontal speed of the vehicle in the tangential plane in [m/s] (used by circular and rose figure)
Definition at line 185 of file ImuSimulator.hpp.
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private |
In the GUI selected radius of the circular trajectory (used by circular and rose figure)
Definition at line 191 of file ImuSimulator.hpp.
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In the GUI selected origin angle of the circular trajectory in [rad].
Definition at line 182 of file ImuSimulator.hpp.
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private |
Selected trajectory type in the GUI.
Definition at line 146 of file ImuSimulator.hpp.
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private |
Vertical speed of the vehicle in the tangential plane in [m/s] (used by circular and rose figure)
Definition at line 188 of file ImuSimulator.hpp.
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staticconstexprprivate |
Object (CsvData)
Definition at line 73 of file ImuSimulator.hpp.
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staticconstexprprivate |
Update rate for the internal solution of linear movement in [Hz].
Definition at line 292 of file ImuSimulator.hpp.
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staticconstexprprivate |
Flow (ImuObs)
Definition at line 74 of file ImuSimulator.hpp.
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staticconstexprprivate |
Flow (PosVelAtt)
Definition at line 75 of file ImuSimulator.hpp.
CubicSpline<long double> NAV::ImuSimulator::pitch |
Pitch angle [rad].
Definition at line 276 of file ImuSimulator.hpp.
CubicSpline<long double> NAV::ImuSimulator::roll |
Roll angle [rad].
Definition at line 275 of file ImuSimulator.hpp.
double NAV::ImuSimulator::sampleInterval |
Spline sample interval.
Definition at line 271 of file ImuSimulator.hpp.
CubicSpline<long double> NAV::ImuSimulator::x |
ECEF X Position [m].
Definition at line 272 of file ImuSimulator.hpp.
CubicSpline<long double> NAV::ImuSimulator::y |
ECEF Y Position [m].
Definition at line 273 of file ImuSimulator.hpp.
CubicSpline<long double> NAV::ImuSimulator::yaw |
Yaw angle [rad].
Definition at line 277 of file ImuSimulator.hpp.
CubicSpline<long double> NAV::ImuSimulator::z |
ECEF Z Position [m].
Definition at line 274 of file ImuSimulator.hpp.