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NAV::Receiver< ReceiverType > Struct Template Reference

Receiver information. More...

Public Member Functions

Eigen::Vector3d e_calcPosAPC (Frequency freq, const std::string &antennaType, const std::string &nameId, const Eigen::Vector3d &hen_delta=Eigen::Vector3d::Zero()) const
 Marker position in ECEF frame [m] (ARP + antenna phase center)
Eigen::Vector3d e_calcPosARP (const Eigen::Vector3d &hen_delta=Eigen::Vector3d::Zero()) const
 Antenna Reference Point position in ECEF frame [m] (Marker + antennaDeltaNEU)
Eigen::Vector3d lla_calcPosAPC (Frequency freq, const std::string &antennaType, const std::string &nameId, const Eigen::Vector3d &hen_delta=Eigen::Vector3d::Zero()) const
 Marker position in LLA frame [rad, rad, m] (ARP + antenna phase center)
Eigen::Vector3d lla_calcPosARP (const Eigen::Vector3d &hen_delta=Eigen::Vector3d::Zero()) const
 Antenna Reference Point position in LLA frame [rad, rad, m] (Marker + antennaDeltaNEU)
 Receiver (ReceiverType type, const std::vector< SatelliteSystem > &satelliteSystems)
 Constructor.

Data Fields

Eigen::Vector3d e_posMarker
 Marker Position in ECEF frame [m].
Eigen::Vector3d e_vel
 Velocity in ECEF frame [m/s].
std::shared_ptr< const GnssObs > gnssObs
 Latest GNSS observation.
std::unordered_map< Frequency, UncertainValue< double > > interFrequencyBias
 Inter frequency biases [s].
Eigen::Vector3d lla_posMarker
 Marker Position in LLA frame [rad, rad, m].
ReceiverClock recvClk
 Estimated receiver clock parameters.
ReceiverType type
 Receiver Type.

Detailed Description

template<typename ReceiverType>
struct NAV::Receiver< ReceiverType >

Receiver information.

Definition at line 33 of file Receiver.hpp.

Constructor & Destructor Documentation

◆ Receiver()

template<typename ReceiverType>
NAV::Receiver< ReceiverType >::Receiver ( ReceiverType type,
const std::vector< SatelliteSystem > & satelliteSystems )
inlineexplicit

Constructor.

Parameters
typeReceiver enum type
satelliteSystemsSatellite systems to use

Definition at line 38 of file Receiver.hpp.

Member Function Documentation

◆ e_calcPosAPC()

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::e_calcPosAPC ( Frequency freq,
const std::string & antennaType,
const std::string & nameId,
const Eigen::Vector3d & hen_delta = Eigen::Vector3d::Zero() ) const
inlinenodiscard

Marker position in ECEF frame [m] (ARP + antenna phase center)

Parameters
[in]freqFrequency of the observation
[in]antennaTypeAntenna type
[in]nameIdNameId of the calling node for Log output
[in]hen_deltaAdditional height, east, north in [m]

Definition at line 75 of file Receiver.hpp.

◆ e_calcPosARP()

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::e_calcPosARP ( const Eigen::Vector3d & hen_delta = Eigen::Vector3d::Zero()) const
inlinenodiscard

Antenna Reference Point position in ECEF frame [m] (Marker + antennaDeltaNEU)

Parameters
[in]hen_deltaAdditional height, east, north in [m]

Definition at line 58 of file Receiver.hpp.

◆ lla_calcPosAPC()

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::lla_calcPosAPC ( Frequency freq,
const std::string & antennaType,
const std::string & nameId,
const Eigen::Vector3d & hen_delta = Eigen::Vector3d::Zero() ) const
inlinenodiscard

Marker position in LLA frame [rad, rad, m] (ARP + antenna phase center)

Parameters
[in]freqFrequency of the observation
[in]antennaTypeAntenna type
[in]nameIdNameId of the calling node for Log output
[in]hen_deltaAdditional height, east, north in [m]

Definition at line 88 of file Receiver.hpp.

◆ lla_calcPosARP()

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::lla_calcPosARP ( const Eigen::Vector3d & hen_delta = Eigen::Vector3d::Zero()) const
inlinenodiscard

Antenna Reference Point position in LLA frame [rad, rad, m] (Marker + antennaDeltaNEU)

Parameters
[in]hen_deltaAdditional height, east, north in [m]

Definition at line 65 of file Receiver.hpp.

Field Documentation

◆ e_posMarker

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::e_posMarker

Marker Position in ECEF frame [m].

Definition at line 44 of file Receiver.hpp.

◆ e_vel

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::e_vel

Velocity in ECEF frame [m/s].

Definition at line 48 of file Receiver.hpp.

◆ gnssObs

template<typename ReceiverType>
std::shared_ptr<const GnssObs> NAV::Receiver< ReceiverType >::gnssObs

Latest GNSS observation.

Definition at line 54 of file Receiver.hpp.

◆ interFrequencyBias

template<typename ReceiverType>
std::unordered_map<Frequency, UncertainValue<double> > NAV::Receiver< ReceiverType >::interFrequencyBias

Inter frequency biases [s].

Definition at line 52 of file Receiver.hpp.

◆ lla_posMarker

template<typename ReceiverType>
Eigen::Vector3d NAV::Receiver< ReceiverType >::lla_posMarker

Marker Position in LLA frame [rad, rad, m].

Definition at line 46 of file Receiver.hpp.

◆ recvClk

template<typename ReceiverType>
ReceiverClock NAV::Receiver< ReceiverType >::recvClk

Estimated receiver clock parameters.

Definition at line 50 of file Receiver.hpp.

◆ type

template<typename ReceiverType>
ReceiverType NAV::Receiver< ReceiverType >::type

Receiver Type.

Definition at line 42 of file Receiver.hpp.

The documentation for this struct was generated from the following file:
  • /home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/Receiver.hpp