NAV::Pos Class Reference

Position, Velocity and Attitude Storage Class. More...

Classes
struct	States
	States. More...

Public Member Functions
const double &	altitude () const
	Returns the altitude (height above ground) in [m].
std::optional< std::reference_wrapper< const KeyedMatrixXd< States::StateKeys, States::StateKeys > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.
const Eigen::Vector3d &	e_position () const
	Returns the coordinates in [m].
std::optional< std::reference_wrapper< const 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::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< States::StateKeys, States::StateKeys > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.
std::optional< std::reference_wrapper< const 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 ECEF coordinates.
void	setPosition_e (const Eigen::Vector3d &e_position)
	Set the Position in coordinates.
void	setPosition_lla (const Eigen::Vector3d &lla_position)
	Set the Position lla object.
void	setPositionAndStdDev_e (const Eigen::Vector3d &e_position, const Eigen::Matrix3d &e_positionCovarianceMatrix)
	Set the Position in ECEF coordinates and its standard deviation.
void	setPositionAndStdDev_lla (const Eigen::Vector3d &lla_position, const Eigen::Matrix3d &n_positionCovarianceMatrix)
	Set the Position in LLA coordinates and its standard deviation.
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.
	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::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.

Additional Inherited Members
Public Attributes inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.
Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Detailed Description

Position, Velocity and Attitude Storage Class.

Member Function Documentation

e_Quat_n()

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

inline

Returns the Quaternion from navigation to Earth-fixed frame.

Returns

The Quaternion for the rotation from navigation to earth coordinates

getValueAt()

std::optional< double > NAV::Pos::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::NodeData.

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

n_Quat_e()

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

inline

Returns the Quaternion from Earth-fixed frame to navigation.

Returns

The Quaternion for the rotation from earth navigation coordinates

parentTypes()

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

inlinestatic

Returns the parent types of the data class.

Returns

The parent data types

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

setPosCovarianceMatrix_n()

template<typename Derived >

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

inline

Set the Covariance matrix in ECEF coordinates.

Parameters

[in]

n_covarianceMatrix

3x3 Pos Error variance

Attention

Position has to be set before calling this

setPosition_e()

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

inline

Set the Position in coordinates.

Parameters

[in]

e_position

New Position in ECEF coordinates

setPosition_lla()

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

inline

Set the Position lla object.

Parameters

[in]

lla_position

New Position in LatLonAlt coordinates

setPositionAndStdDev_e()

void NAV::Pos::setPositionAndStdDev_e ( const Eigen::Vector3d & e_position, const Eigen::Matrix3d & e_positionCovarianceMatrix )

inline

Set the Position in ECEF coordinates and its standard deviation.

Parameters

[in]	e_position	New Position in ECEF coordinates [m]
[in]	e_positionCovarianceMatrix	Standard deviation of Position in ECEF coordinates [m]

setPositionAndStdDev_lla()

void NAV::Pos::setPositionAndStdDev_lla ( const Eigen::Vector3d & lla_position, const Eigen::Matrix3d & n_positionCovarianceMatrix )

inline

Set the Position in LLA coordinates and its standard deviation.

Parameters

[in]	lla_position	New Position in LatLonAlt coordinates
[in]	n_positionCovarianceMatrix	Standard deviation of Position in NED coordinates [m]

type()

static std::string NAV::Pos::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/State/Pos.hpp