NAV::SppSolution Class Reference

SPP Algorithm output. More...

Classes
struct	SatData
	Satellite specific data. More...

Public Member Functions
void	addEvent (const std::string &event)
	Adds an event to the event list.
std::vector< std::string >	dynamicDataDescriptors () const override
	Returns a vector of data descriptors for the dynamic data.
std::vector< std::pair< std::string, double > >	getDynamicData () const override
	Returns a vector of data descriptors and values for the dynamic data.
std::optional< double >	getDynamicDataAt (const std::string &descriptor) const override
	Get the value for the descriptor.
std::optional< double >	getValueAt (size_t idx) const override
	Get 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::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.
const std::vector< std::string > &	events () const
	Returns a vector of string events associated with this data.
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.

Public Attributes
std::unordered_map< Frequency, UncertainValue< double > >	interFrequencyBias
	Inter-frequency biases.
size_t	nMeasDopp
	Amount of doppler measurements used to calculate the velocity solution.
size_t	nMeasPsr
	Amount of pseudorange measurements used to calculate the position solution.
size_t	nParam
	Amount of Parameters estimated in this epoch.
size_t	nSatellites
	Amount of satellites used for the calculation.
ReceiverClock	recvClk
	Estimated receiver clock parameter.
std::vector< std::pair< SatId, SatData > >	satData
	Extended data for each satellite.
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

SPP Algorithm output.

Member Function Documentation

addEvent()

void NAV::SppSolution::addEvent ( const std::string & event )

inline

Adds an event to the event list.

Parameters

event

Event string

getDynamicDataAt()

std::optional< double > NAV::SppSolution::getDynamicDataAt ( const std::string & descriptor ) const

inlineoverridevirtual

Get the value for the descriptor.

Returns

Value if in the observation

Reimplemented from NAV::NodeData.

getValueAt()

std::optional< double > NAV::SppSolution::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.

parentTypes()

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

inlinestatic

Returns the parent types of the data class.

Returns

The parent data types

type()

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

inlinestatic

Returns the type of the data class.

Returns

The data type

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

• /home/runner/work/INSTINCT/INSTINCT/src/NodeData/GNSS/SppSolution.hpp