NAV::KvhObs Class Reference

Kvh Observation storage Class. More...

Public Member Functions
std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.
	KvhObs (const ImuPos &imuPos)
	Constructor.
	KvhObs (const ImuPos &imuPos, uart::protocol::Packet &packet)
	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
uart::protocol::Packet	raw
	Complete message raw binary data including header and checksum.
uint8_t	sequenceNumber
	Increments for each message and resets to 0 after 127.
std::bitset< 8 >	status
	Status Byte.
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

Kvh Observation storage Class.

Constructor & Destructor Documentation

KvhObs() [1/2]

NAV::KvhObs::KvhObs ( const ImuPos & imuPos, uart::protocol::Packet & packet )

inline

Constructor.

Parameters

[in]	imuPos	Reference to the position and rotation info of the Imu
[in]	packet	The packet to copy into the raw data

KvhObs() [2/2]

NAV::KvhObs::KvhObs ( 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::KvhObs::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::KvhObs::parentTypes ( )

inlinestatic

Returns the parent types of the data class.

Returns

The parent data types

type()

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

inlinestatic

Returns the type of the data class.

Returns

The data type

Member Data Documentation

status

std::bitset<8> NAV::KvhObs::status

Status Byte.

Bit | Function | Notes 0 | Gyro X status | 1 = Valid data, 0 = Invalid data 1 | Gyro Y status | 1 = Valid data, 0 = Invalid data 2 | Gyro Z status | 1 = Valid data, 0 = Invalid data 3 | Reserved | Always 0 4 | Accelerometer X status | 1 = Valid data, 0 = Invalid data 5 | Accelerometer Y status | 1 = Valid data, 0 = Invalid data 6 | Accelerometer Z status | 1 = Valid data, 0 = Invalid data 7 | Reserved | Always 0

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

• /home/runner/work/INSTINCT/INSTINCT/src/NodeData/IMU/KvhObs.hpp