SPP Algorithm output. More...

Data Structures
struct	SatData
	Satellite specific data. More...

Public Member Functions
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::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.

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

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

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

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

template<typename DerivedP, typename DerivedV>
void	setPosVel_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity)
	Set the position and velocity.

template<typename DerivedP, typename DerivedV>
void	setPosVel_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity)
	Set the position and velocity.

template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position, velocity and the covariance matrix.

template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position, velocity and the covariance matrix.

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.

bool	setValueAt (size_t idx, double value) override
	Set the value at the index.

template<typename Derived>
void	setVelocity_e (const Eigen::MatrixBase< Derived > &e_velocity)
	Set the Velocity in the earth frame.

template<typename Derived>
void	setVelocity_n (const Eigen::MatrixBase< Derived > &n_velocity)
	Set the Velocity in the NED frame.

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< 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.

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.

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.

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::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.

Data Fields
std::optional< KeyedMatrixXd< SPP::States::StateKeyType, SPP::States::StateKeyType > >	_e_sppCovarianceMatrix
	Covariance matrix in ECEF coordinates.

double	HDOP
	HDOP value.

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.

double	PDOP
	PDOP value.

ReceiverClock	recvClk
	Estimated receiver clock parameter.

std::vector< std::pair< SatId, SatData > >	satData
	Extended data for each satellite.

double	VDOP
	VDOP value.

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

Additional Inherited Members
Protected Attributes inherited from NAV::Pos
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.

Detailed Description

SPP Algorithm output.

Definition at line 36 of file SppSolution.hpp.

Member Function Documentation

◆ dynamicDataDescriptors()

std::vector< std::string > NAV::SppSolution::dynamicDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors for the dynamic data.

Reimplemented from NAV::NodeData.

Definition at line 224 of file SppSolution.hpp.

◆ getDynamicData()

std::vector< std::pair< std::string, double > > NAV::SppSolution::getDynamicData ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors and values for the dynamic data.

Reimplemented from NAV::NodeData.

Definition at line 306 of file SppSolution.hpp.

◆ getDynamicDataAt()

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

inlinenodiscardoverridevirtual

Get the value for the descriptor.

Returns: Value if in the observation

Reimplemented from NAV::NodeData.

Definition at line 266 of file SppSolution.hpp.

◆ GetStaticDataDescriptors()

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

inlinestaticnodiscard

Returns a vector of data descriptors.

Definition at line 60 of file SppSolution.hpp.

◆ GetStaticDescriptorCount()

static constexpr size_t NAV::SppSolution::GetStaticDescriptorCount ( )

inlinestaticnodiscardconstexpr

Get the amount of descriptors.

Definition at line 101 of file SppSolution.hpp.

◆ getType()

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

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns: The data type

Reimplemented from NAV::PosVel.

Definition at line 48 of file SppSolution.hpp.

◆ getValueAt()

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

Definition at line 112 of file SppSolution.hpp.

◆ parentTypes()

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

inlinestaticnodiscard

Returns the parent types of the data class.

Returns: The parent data types

Definition at line 52 of file SppSolution.hpp.

◆ staticDataDescriptors()

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

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::PosVel.

Definition at line 104 of file SppSolution.hpp.

◆ staticDescriptorCount()

size_t NAV::SppSolution::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::PosVel.

Definition at line 107 of file SppSolution.hpp.

◆ type()

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

inlinestaticnodiscard

Returns the type of the data class.

Returns: The data type

Definition at line 41 of file SppSolution.hpp.

Field Documentation

◆ _e_sppCovarianceMatrix

std::optional<KeyedMatrixXd<SPP::States::StateKeyType, SPP::States::StateKeyType> > NAV::SppSolution::_e_sppCovarianceMatrix

Covariance matrix in ECEF coordinates.

Definition at line 381 of file SppSolution.hpp.

◆ HDOP

double NAV::SppSolution::HDOP

HDOP value.

Definition at line 358 of file SppSolution.hpp.

◆ interFrequencyBias

std::unordered_map<Frequency, UncertainValue<double> > NAV::SppSolution::interFrequencyBias

Inter-frequency biases.

Definition at line 368 of file SppSolution.hpp.

◆ nMeasDopp

size_t NAV::SppSolution::nMeasDopp

Amount of doppler measurements used to calculate the velocity solution.

Definition at line 353 of file SppSolution.hpp.

◆ nMeasPsr

size_t NAV::SppSolution::nMeasPsr

Amount of pseudorange measurements used to calculate the position solution.

Definition at line 351 of file SppSolution.hpp.

◆ nParam

size_t NAV::SppSolution::nParam

Amount of Parameters estimated in this epoch.

Definition at line 355 of file SppSolution.hpp.

◆ nSatellites

size_t NAV::SppSolution::nSatellites

Amount of satellites used for the calculation.

Definition at line 349 of file SppSolution.hpp.

◆ PDOP

double NAV::SppSolution::PDOP

PDOP value.

Definition at line 362 of file SppSolution.hpp.

◆ recvClk

ReceiverClock NAV::SppSolution::recvClk

Estimated receiver clock parameter.

Definition at line 365 of file SppSolution.hpp.

◆ satData

std::vector<std::pair<SatId, SatData> > NAV::SppSolution::satData

Extended data for each satellite.

Definition at line 378 of file SppSolution.hpp.

◆ VDOP

double NAV::SppSolution::VDOP

VDOP value.

Definition at line 360 of file SppSolution.hpp.

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

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

Data Structures

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ dynamicDataDescriptors()

◆ getDynamicData()

◆ getDynamicDataAt()

◆ GetStaticDataDescriptors()

◆ GetStaticDescriptorCount()

◆ getType()

◆ getValueAt()

◆ parentTypes()

◆ staticDataDescriptors()

◆ staticDescriptorCount()

◆ type()

Field Documentation

◆ _e_sppCovarianceMatrix

◆ HDOP

◆ interFrequencyBias

◆ nMeasDopp

◆ nMeasPsr

◆ nParam

◆ nSatellites

◆ PDOP

◆ recvClk

◆ satData

◆ VDOP