Position Storage Class. More...

Public Member Functions
const double &	altitude () const
	Returns the altitude (height above ground) in [m].
std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.
const Eigen::Vector3d &	e_position () const
	Returns the coordinates in [m].
std::optional< Eigen::Vector3d >	e_positionStdev () const
	Returns the standard deviation of the position in ECEF frame coordinates in [m].
Eigen::Quaterniond	e_Quat_n () const
	Returns the Quaternion from navigation to Earth-fixed frame.
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.
const double &	latitude () const
	Returns the latitude 𝜙 in [rad].
const Eigen::Vector3d &	lla_position () const
	Returns the latitude 𝜙, longitude λ and altitude (height above ground) in [rad, rad, m].
const double &	longitude () const
	Returns the longitude λ in [rad].
std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.
std::optional< Eigen::Vector3d >	n_positionStdev () const
	Returns the standard deviation of the position in local navigation frame coordinates in [m].
Eigen::Quaterniond	n_Quat_e () const
	Returns the Quaternion from Earth-fixed frame to navigation.
template<typename Derived>
void	setPosCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.
template<typename Derived>
void	setPosCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.
template<typename Derived>
void	setPosition_e (const Eigen::MatrixBase< Derived > &e_position)
	Set the Position in coordinates.
template<typename Derived>
void	setPosition_lla (const Eigen::MatrixBase< Derived > &lla_position)
	Set the Position lla object.
template<typename DerivedP, typename Derived>
void	setPositionAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position and the covariance matrix.
template<typename DerivedP, typename Derived>
void	setPositionAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position and the covariance matrix.
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.
NodeData &	operator= (const NodeData &)=default
	Copy assignment operator.
NodeData &	operator= (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.

Protected Attributes
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_e_covarianceMatrix
	Covariance matrix in ECEF coordinates.
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_n_covarianceMatrix
	Covariance matrix in local navigation coordinates.
Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Private Attributes
Eigen::Vector3d	_e_position
	Position in ECEF coordinates [m].
Eigen::Vector3d	_lla_position
	Position in LatLonAlt coordinates [rad, rad, m].

Additional Inherited Members
Data Fields inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

Detailed Description

Position Storage Class.

Definition at line 31 of file Pos.hpp.

Member Function Documentation

◆ altitude()

const double & NAV::Pos::altitude ( ) const

inlinenodiscard

Returns the altitude (height above ground) in [m].

Definition at line 246 of file Pos.hpp.

◆ e_CovarianceMatrix()

std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > > NAV::Pos::e_CovarianceMatrix ( ) const

inlinenodiscard

Returns the Covariance matrix in ECEF frame.

Definition at line 272 of file Pos.hpp.

◆ e_position()

const Eigen::Vector3d & NAV::Pos::e_position ( ) const

inlinenodiscard

Returns the coordinates in [m].

Definition at line 249 of file Pos.hpp.

◆ e_positionStdev()

std::optional< Eigen::Vector3d > NAV::Pos::e_positionStdev ( ) const

inlinenodiscard

Returns the standard deviation of the position in ECEF frame coordinates in [m].

Definition at line 252 of file Pos.hpp.

◆ e_Quat_n()

Eigen::Quaterniond NAV::Pos::e_Quat_n ( ) const

inlinenodiscard

Returns the Quaternion from navigation to Earth-fixed frame.

Returns: The Quaternion for the rotation from navigation to earth coordinates

Definition at line 220 of file Pos.hpp.

◆ GetStaticDataDescriptors()

std::vector< std::string > NAV::Pos::GetStaticDataDescriptors ( )

inlinestaticnodiscard

Returns a vector of data descriptors.

Definition at line 53 of file Pos.hpp.

◆ GetStaticDescriptorCount()

constexpr size_t NAV::Pos::GetStaticDescriptorCount ( )

inlinestaticnodiscardconstexpr

Get the amount of descriptors.

Definition at line 80 of file Pos.hpp.

◆ getType()

std::string NAV::Pos::getType ( ) const

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns: The data type

Reimplemented from NAV::NodeData.

Reimplemented in NAV::PosVel, NAV::PosVelAtt, NAV::RtklibPosObs, NAV::RtkSolution, NAV::SppSolution, and NAV::WiFiPositioningSolution.

Definition at line 43 of file Pos.hpp.

◆ getValueAt()

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

inlinenodiscardoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns: Value if in the observation

Reimplemented from NAV::NodeData.

Reimplemented in NAV::PosVel, NAV::PosVelAtt, NAV::RtklibPosObs, NAV::RtkSolution, NAV::SppSolution, and NAV::WiFiPositioningSolution.

Definition at line 91 of file Pos.hpp.

◆ latitude()

const double & NAV::Pos::latitude ( ) const

inlinenodiscard

Returns the latitude 𝜙 in [rad].

Definition at line 240 of file Pos.hpp.

◆ lla_position()

const Eigen::Vector3d & NAV::Pos::lla_position ( ) const

inlinenodiscard

Returns the latitude 𝜙, longitude λ and altitude (height above ground) in [rad, rad, m].

Definition at line 237 of file Pos.hpp.

◆ longitude()

const double & NAV::Pos::longitude ( ) const

inlinenodiscard

Returns the longitude λ in [rad].

Definition at line 243 of file Pos.hpp.

◆ n_CovarianceMatrix()

std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > > NAV::Pos::n_CovarianceMatrix ( ) const

inlinenodiscard

Returns the Covariance matrix in local navigation frame.

Definition at line 275 of file Pos.hpp.

◆ n_positionStdev()

std::optional< Eigen::Vector3d > NAV::Pos::n_positionStdev ( ) const

inlinenodiscard

Returns the standard deviation of the position in local navigation frame coordinates in [m].

Definition at line 262 of file Pos.hpp.

◆ n_Quat_e()

Eigen::Quaterniond NAV::Pos::n_Quat_e ( ) const

inlinenodiscard

Returns the Quaternion from Earth-fixed frame to navigation.

Returns: The Quaternion for the rotation from earth navigation coordinates

Definition at line 227 of file Pos.hpp.

◆ parentTypes()

std::vector< std::string > NAV::Pos::parentTypes ( )

inlinestaticnodiscard

Returns the parent types of the data class.

Returns: The parent data types

Definition at line 47 of file Pos.hpp.

◆ setPosCovarianceMatrix_e()

template<typename Derived>

void NAV::Pos::setPosCovarianceMatrix_e ( const Eigen::MatrixBase< Derived > & e_covarianceMatrix )

inline

Set the Covariance matrix in ECEF coordinates.

Parameters

[in] e_covarianceMatrix 3x3 Pos Error variance

Attention: Position has to be set before calling this

Definition at line 323 of file Pos.hpp.

◆ setPosCovarianceMatrix_n()

template<typename Derived>

void NAV::Pos::setPosCovarianceMatrix_n ( const Eigen::MatrixBase< Derived > & n_covarianceMatrix )

inline

Set the Covariance matrix in NED coordinates.

Parameters

[in] n_covarianceMatrix 3x3 Pos Error variance

Attention: Position has to be set before calling this

Definition at line 341 of file Pos.hpp.

◆ setPosition_e()

template<typename Derived>

void NAV::Pos::setPosition_e ( const Eigen::MatrixBase< Derived > & e_position )

inline

Set the Position in coordinates.

Parameters

[in] e_position New Position in ECEF coordinates

Definition at line 284 of file Pos.hpp.

◆ setPosition_lla()

template<typename Derived>

void NAV::Pos::setPosition_lla ( const Eigen::MatrixBase< Derived > & lla_position )

inline

Set the Position lla object.

Parameters

[in] lla_position New Position in LatLonAlt coordinates

Definition at line 293 of file Pos.hpp.

◆ setPositionAndCov_e()

template<typename DerivedP, typename Derived>

void NAV::Pos::setPositionAndCov_e	(	const Eigen::MatrixBase< DerivedP > &	e_position,
		const Eigen::MatrixBase< Derived > &	e_covarianceMatrix )

inline

Set the position and the covariance matrix.

Parameters

[in]	e_position	New Position in ECEF coordinates
[in]	e_covarianceMatrix	3x3 Pos Error variance

Definition at line 303 of file Pos.hpp.

◆ setPositionAndCov_n()

template<typename DerivedP, typename Derived>

void NAV::Pos::setPositionAndCov_n	(	const Eigen::MatrixBase< DerivedP > &	lla_position,
		const Eigen::MatrixBase< Derived > &	n_covarianceMatrix )

inline

Set the position and the covariance matrix.

Parameters

[in]	lla_position	New Position in LatLonAlt coordinates [rad, rad, m]
[in]	n_covarianceMatrix	3x3 Pos Error variance in NED frame [m]

Definition at line 313 of file Pos.hpp.

◆ setValueAt()

bool NAV::Pos::setValueAt	(	size_t	idx,
		double	value )

inlinenodiscardoverridevirtual

Set the value at the index.

Parameters

idx	Index corresponding to data descriptor order
value	Value to set

Returns: True if the value was updated

Reimplemented from NAV::NodeData.

Reimplemented in NAV::PosVel, and NAV::PosVelAtt.

Definition at line 158 of file Pos.hpp.

◆ staticDataDescriptors()

std::vector< std::string > NAV::Pos::staticDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::NodeData.

Reimplemented in NAV::PosVel, NAV::PosVelAtt, NAV::RtklibPosObs, NAV::RtkSolution, NAV::SppSolution, and NAV::WiFiPositioningSolution.

Definition at line 83 of file Pos.hpp.

◆ staticDescriptorCount()

size_t NAV::Pos::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::NodeData.

Reimplemented in NAV::PosVel, NAV::PosVelAtt, NAV::RtklibPosObs, NAV::RtkSolution, NAV::SppSolution, and NAV::WiFiPositioningSolution.

Definition at line 86 of file Pos.hpp.

◆ type()

std::string NAV::Pos::type ( )

inlinestaticnodiscard

Returns the type of the data class.

Returns: The data type

Definition at line 36 of file Pos.hpp.

Field Documentation

◆ _e_covarianceMatrix

std::optional<KeyedMatrixXd<Keys::MotionModelKey, Keys::MotionModelKey> > NAV::Pos::_e_covarianceMatrix

protected

Covariance matrix in ECEF coordinates.

Definition at line 361 of file Pos.hpp.

◆ _e_position

Eigen::Vector3d NAV::Pos::_e_position

private

Position in ECEF coordinates [m].

Definition at line 368 of file Pos.hpp.

◆ _lla_position

Eigen::Vector3d NAV::Pos::_lla_position

private

Position in LatLonAlt coordinates [rad, rad, m].

Definition at line 370 of file Pos.hpp.

◆ _n_covarianceMatrix

std::optional<KeyedMatrixXd<Keys::MotionModelKey, Keys::MotionModelKey> > NAV::Pos::_n_covarianceMatrix

protected

Covariance matrix in local navigation coordinates.

Definition at line 364 of file Pos.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/NodeData/State/Pos.hpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ altitude()

◆ e_CovarianceMatrix()

◆ e_position()

◆ e_positionStdev()

◆ e_Quat_n()

◆ GetStaticDataDescriptors()

◆ GetStaticDescriptorCount()

◆ getType()

◆ getValueAt()

◆ latitude()

◆ lla_position()

◆ longitude()

◆ n_CovarianceMatrix()

◆ n_positionStdev()

◆ n_Quat_e()

◆ parentTypes()

◆ setPosCovarianceMatrix_e()

◆ setPosCovarianceMatrix_n()

◆ setPosition_e()

◆ setPosition_lla()

◆ setPositionAndCov_e()

◆ setPositionAndCov_n()

◆ setValueAt()

◆ staticDataDescriptors()

◆ staticDescriptorCount()

◆ type()

Field Documentation

◆ _e_covarianceMatrix

◆ _e_position

◆ _lla_position

◆ _n_covarianceMatrix