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

Public Member Functions
Eigen::Quaterniond	b_Quat_e () const
	Returns the Quaternion from Earth-fixed to body frame.

Eigen::Quaterniond	b_Quat_n () const
	Returns the Quaternion from navigation to body frame (NED)

const Eigen::Quaterniond &	e_Quat_b () const
	Returns the Quaternion from body to Earth-fixed frame.

std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.

const Eigen::Quaterniond &	n_Quat_b () const
	Returns the Quaternion from body to navigation frame (NED)

Eigen::Vector3d	rollPitchYaw () const
	Returns the Roll, Pitch and Yaw angles in [rad].

void	setAttitude_e_Quat_b (const Eigen::Quaterniond &e_Quat_b)
	Set the Quaternion from body to earth frame.

void	setAttitude_n_Quat_b (const Eigen::Quaterniond &n_Quat_b)
	Set the Quaternion from body to navigation frame.

void	setState_e (const Eigen::Vector3d &e_position, const Eigen::Vector3d &e_velocity, const Eigen::Quaterniond &e_Quat_b)
	Set the State.

void	setState_n (const Eigen::Vector3d &lla_position, const Eigen::Vector3d &n_velocity, const Eigen::Quaterniond &n_Quat_b)
	Set the State.

void	setStateAndCovariance_e (const Eigen::Vector3d &e_position, const Eigen::Matrix3d &e_positionCovarianceMatrix, const Eigen::Vector3d &e_velocity, const Eigen::Matrix3d &e_velocityCovarianceMatrix, const Eigen::Quaterniond &e_Quat_b)
	Set the State and the covariances.

void	setStateAndCovariance_n (const Eigen::Vector3d &lla_position, const Eigen::Matrix3d &n_positionCovarianceMatrix, const Eigen::Vector3d &n_velocity, const Eigen::Matrix3d &n_velocityCovarianceMatrix, const Eigen::Quaterniond &n_Quat_b)
	Set the State and the covariances.

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::PosVel
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_velocity () const
	Returns the velocity in [m/s], in earth coordinates.

std::optional< std::reference_wrapper< const Eigen::Vector3d > >	e_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in earth coordinates.

std::optional< std::reference_wrapper< const KeyedMatrixXd< States::StateKeys, States::StateKeys > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.

const Eigen::Vector3d &	n_velocity () const
	Returns the velocity in [m/s], in navigation coordinates.

std::optional< std::reference_wrapper< const Eigen::Vector3d > >	n_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in navigation coordinates.

template<typename Derived >
void	setPosVelCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.

template<typename Derived >
void	setPosVelCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.

void	setVelocity_e (const Eigen::Vector3d &e_velocity)
	Set the Velocity in the earth frame.

void	setVelocity_n (const Eigen::Vector3d &n_velocity)
	Set the Velocity in the NED frame.

void	setVelocityAndStdDev_e (const Eigen::Vector3d &e_velocity, const Eigen::Matrix3d &e_velocityCovarianceMatrix)
	Set the Velocity in ECEF coordinates and its standard deviation.

void	setVelocityAndStdDev_n (const Eigen::Vector3d &n_velocity, const Eigen::Matrix3d &n_velocityCovarianceMatrix)
	Set the Velocity in NED coordinates and its standard deviation.

Public Member Functions inherited from NAV::Pos
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.

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.

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::PosVel
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::Pos
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

◆ b_Quat_e()

Eigen::Quaterniond NAV::PosVelAtt::b_Quat_e ( ) const

inline

Returns the Quaternion from Earth-fixed to body frame.

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

◆ b_Quat_n()

Eigen::Quaterniond NAV::PosVelAtt::b_Quat_n ( ) const

inline

Returns the Quaternion from navigation to body frame (NED)

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

◆ e_Quat_b()

const Eigen::Quaterniond & NAV::PosVelAtt::e_Quat_b ( ) const

inline

Returns the Quaternion from body to Earth-fixed frame.

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

◆ getValueAt()

std::optional< double > NAV::PosVelAtt::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::PosVel.

◆ n_Quat_b()

const Eigen::Quaterniond & NAV::PosVelAtt::n_Quat_b ( ) const

inline

Returns the Quaternion from body to navigation frame (NED)

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

◆ parentTypes()

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

inlinestatic

Returns the parent types of the data class.

Returns: The parent data types

◆ rollPitchYaw()

Eigen::Vector3d NAV::PosVelAtt::rollPitchYaw ( ) const

inline

Returns the Roll, Pitch and Yaw angles in [rad].

Returns: [roll, pitch, yaw]^T

◆ setAttitude_e_Quat_b()

void NAV::PosVelAtt::setAttitude_e_Quat_b ( const Eigen::Quaterniond & e_Quat_b )

inline

Set the Quaternion from body to earth frame.

Parameters

[in] e_Quat_b Quaternion from body to earth frame

◆ setAttitude_n_Quat_b()

void NAV::PosVelAtt::setAttitude_n_Quat_b ( const Eigen::Quaterniond & n_Quat_b )

inline

Set the Quaternion from body to navigation frame.

Parameters

[in] n_Quat_b Quaternion from body to navigation frame

◆ setState_e()

void NAV::PosVelAtt::setState_e	(	const Eigen::Vector3d &	e_position,
		const Eigen::Vector3d &	e_velocity,
		const Eigen::Quaterniond &	e_Quat_b )

inline

Set the State.

Parameters

[in]	e_position	New Position in ECEF coordinates
[in]	e_velocity	The new velocity in the earth frame
[in]	e_Quat_b	Quaternion from body to earth frame

◆ setState_n()

void NAV::PosVelAtt::setState_n	(	const Eigen::Vector3d &	lla_position,
		const Eigen::Vector3d &	n_velocity,
		const Eigen::Quaterniond &	n_Quat_b )

inline

Set the State.

Parameters

[in]	lla_position	New Position in LatLonAlt coordinates [rad, rad, m]
[in]	n_velocity	The new velocity in the NED frame [m/s, m/s, m/s]
[in]	n_Quat_b	Quaternion from body to navigation frame

◆ setStateAndCovariance_e()

void NAV::PosVelAtt::setStateAndCovariance_e	(	const Eigen::Vector3d &	e_position,
		const Eigen::Matrix3d &	e_positionCovarianceMatrix,
		const Eigen::Vector3d &	e_velocity,
		const Eigen::Matrix3d &	e_velocityCovarianceMatrix,
		const Eigen::Quaterniond &	e_Quat_b )

inline

Set the State and the covariances.

Parameters

[in]	e_position	New Position in ECEF coordinates
[in]	e_positionCovarianceMatrix	Standard deviation of Position in ECEF coordinates [m]
[in]	e_velocity	The new velocity in the earth frame
[in]	e_velocityCovarianceMatrix	Covariance matrix of Velocity in earth coordinates [m/s]
[in]	e_Quat_b	Quaternion from body to earth frame

◆ setStateAndCovariance_n()

void NAV::PosVelAtt::setStateAndCovariance_n	(	const Eigen::Vector3d &	lla_position,
		const Eigen::Matrix3d &	n_positionCovarianceMatrix,
		const Eigen::Vector3d &	n_velocity,
		const Eigen::Matrix3d &	n_velocityCovarianceMatrix,
		const Eigen::Quaterniond &	n_Quat_b )

inline

Set the State and the covariances.

Parameters

[in]	lla_position	New Position in LatLonAlt coordinates [rad, rad, m]
[in]	n_positionCovarianceMatrix	Standard deviation of Position in NED coordinates [m]
[in]	n_velocity	The new velocity in the NED frame [m/s, m/s, m/s]
[in]	n_velocityCovarianceMatrix	Covariance matrix of Velocity in NED coordinates [m/s]
[in]	n_Quat_b	Quaternion from body to navigation frame

◆ type()

static std::string NAV::PosVelAtt::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/PosVelAtt.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ b_Quat_e()

◆ b_Quat_n()

◆ e_Quat_b()

◆ getValueAt()

◆ n_Quat_b()

◆ parentTypes()

◆ rollPitchYaw()

◆ setAttitude_e_Quat_b()

◆ setAttitude_n_Quat_b()

◆ setState_e()

◆ setState_n()

◆ setStateAndCovariance_e()

◆ setStateAndCovariance_n()

◆ type()