Enables the user to predict an object’s position and movement at any future time applying dead reckoning. It adheres to the algorithms specified in IEEE 1278_1:2012, Annex E. More...

#include <dead_reckoner.h>

Inheritance diagram for sen::util::DeadReckoner< T >:

Public Types
using	Parent = DeadReckonerTemplateBase<T>
using	SpatialVariant = typename Parent::SpatialVariant
using	StaticSpatial = typename Parent::StaticSpatial
using	FpsSpatial = typename Parent::FpsSpatial
using	RpsSpatial = typename Parent::RpsSpatial
using	RvsSpatial = typename Parent::RvsSpatial
using	FvsSpatial = typename Parent::FvsSpatial
using	RprLocation = typename Parent::RprLocation
using	RprOrientation = typename Parent::RprOrientation
using	RprVelocity = typename Parent::RprVelocity
using	RprAcceleration = typename Parent::RprAcceleration
using	RprAngularVelocity = typename Parent::RprAngularVelocity
using	SituationProcessor = std::function<Situation(sen::TimeStamp)>
using	GeodeticSituationProcessor = std::function<GeodeticSituation(sen::TimeStamp)>

Public Member Functions
	DeadReckoner (const T &object, DrConfig config={})
	Constructor for the DeadReckoner where an object inheriting from rpr::BaseEntity is inputted as a reference. This is the easiest version of the API to instantiate a DeadReckoner.
	~DeadReckoner () override=default
Situation	situation (sen::TimeStamp timeStamp) override
	Returns the extrapolated/smoothed situation of the object at the timestamp introduced as argument, expressed in the following coordinates:
GeodeticSituation	geodeticSituation (sen::TimeStamp timeStamp) override
	Returns the extrapolated/smoothed situation of the object at the timestamp introduced as argument, expressed in the following coordinates:
T &	getObject () noexcept
	Provides direct mutable access to the internal object managed by this instance of the DeadReckoner.
void	updateSituation (const Situation &value)
	Updates the last known real time Situation. A valid timestamp is needed inside the Situation provided as argument.
void	updateGeodeticSituation (const GeodeticSituation &value)
	Updates the last known real time GeodeticSituation. A valid timestamp is needed inside the GeodeticSituation provided as argument.
const DrConfig &	getConfig () const noexcept
void	setConfig (const DrConfig &config)

Static Public Member Functions
static Situation	toSituation (const SpatialVariant &spatial, sen::TimeStamp timeStamp={})
	Translates a SpatialVariant to a Situation struct.
static GeodeticSituation	toGeodeticSituation (const SpatialVariant &spatial, sen::TimeStamp timeStamp={})
	Translates a SpatialVariant to a GeodeticSituation struct.

Protected Member Functions
const Situation &	getSmoothSituation () const noexcept
void	smooth (const Situation &update)
void	invalidateCache ()
bool	isSituationCached (sen::TimeStamp timeStamp) const noexcept
void	setCachedSituation (const Situation &situation)
const Situation &	getCachedSituation () const noexcept
bool	isGeodeticSituationCached (sen::TimeStamp timeStamp) const noexcept
void	setCachedGeodeticSituation (const GeodeticSituation &situation)
const GeodeticSituation &	getCachedGeodeticSituation () const noexcept

Static Protected Member Functions
static Situation	extrapolate (const SpatialVariant &spatial, sen::TimeStamp time, sen::TimeStamp lastTimeStamp)
	Returns the extrapolated situation of the RPR Entity given its Spatial field and two timestamps that define a time delta for the extrapolation.

Detailed Description

template<typename T>
class sen::util::DeadReckoner< T >

Enables the user to predict an object’s position and movement at any future time applying dead reckoning. It adheres to the algorithms specified in IEEE 1278_1:2012, Annex E.

Template Parameters

T	rpr::BaseEntityInterface or a subclass of it

Member Typedef Documentation

◆ Parent

template<typename T>

using sen::util::DeadReckoner< T >::Parent = DeadReckonerTemplateBase<T>

◆ SpatialVariant

template<typename T>

using sen::util::DeadReckoner< T >::SpatialVariant = typename Parent::SpatialVariant

◆ StaticSpatial

template<typename T>

using sen::util::DeadReckoner< T >::StaticSpatial = typename Parent::StaticSpatial

◆ FpsSpatial

template<typename T>

using sen::util::DeadReckoner< T >::FpsSpatial = typename Parent::FpsSpatial

◆ RpsSpatial

template<typename T>

using sen::util::DeadReckoner< T >::RpsSpatial = typename Parent::RpsSpatial

◆ RvsSpatial

template<typename T>

using sen::util::DeadReckoner< T >::RvsSpatial = typename Parent::RvsSpatial

◆ FvsSpatial

template<typename T>

using sen::util::DeadReckoner< T >::FvsSpatial = typename Parent::FvsSpatial

◆ RprLocation

template<typename T>

using sen::util::DeadReckoner< T >::RprLocation = typename Parent::RprLocation

◆ RprOrientation

template<typename T>

using sen::util::DeadReckoner< T >::RprOrientation = typename Parent::RprOrientation

◆ RprVelocity

template<typename T>

using sen::util::DeadReckoner< T >::RprVelocity = typename Parent::RprVelocity

◆ RprAcceleration

template<typename T>

using sen::util::DeadReckoner< T >::RprAcceleration = typename Parent::RprAcceleration

◆ RprAngularVelocity

template<typename T>

using sen::util::DeadReckoner< T >::RprAngularVelocity = typename Parent::RprAngularVelocity

◆ SituationProcessor

template<typename T>

using sen::util::DeadReckoner< T >::SituationProcessor = std::function<Situation(sen::TimeStamp)>

◆ GeodeticSituationProcessor

template<typename T>

using sen::util::DeadReckoner< T >::GeodeticSituationProcessor = std::function<GeodeticSituation(sen::TimeStamp)>

Constructor & Destructor Documentation

◆ DeadReckoner()

template<typename T>

sen::util::DeadReckoner< T >::DeadReckoner	(	const T &	object,
		DrConfig	config = {} )

inlineexplicit

Constructor for the DeadReckoner where an object inheriting from rpr::BaseEntity is inputted as a reference. This is the easiest version of the API to instantiate a DeadReckoner.

◆ ~DeadReckoner()

template<typename T>

sen::util::DeadReckoner< T >::~DeadReckoner ( )

overridedefault

Member Function Documentation

◆ situation()

template<typename T>

Situation sen::util::DeadReckoner< T >::situation ( sen::TimeStamp timeStamp )

inlinenodiscardoverridevirtual

Returns the extrapolated/smoothed situation of the object at the timestamp introduced as argument, expressed in the following coordinates:

World position: ECEF coordinates
Orientation: Euler angles of the body reference system (x forward, y right, z down) with respect to ECEF
Velocity: In world coordinates for world-centered DR algorithms and in body coordinates for body-centered algorithms
Acceleration: In world coordinates for world-centered DR algorithms and in body coordinates for body-centered algorithms
AngularVelocity: In body coordinates.
AngularAcceleration: In body coordinates.

Reimplemented from sen::util::DeadReckonerBase.

◆ geodeticSituation()

template<typename T>

GeodeticSituation sen::util::DeadReckoner< T >::geodeticSituation ( sen::TimeStamp timeStamp )

inlinenodiscardoverridevirtual

Returns the extrapolated/smoothed situation of the object at the timestamp introduced as argument, expressed in the following coordinates:

World position: Geodetic Latitude, Longitude and Altitude
Orientation: Euler angles of the body reference system (x forward, y right, z down) with respect to NED
Velocity: In NED coordinates for world-referenced algorithms, in body coordinates for body-referenced algorithms.
Acceleration: In NED coordinates for world-referenced algorithms, in body coordinates for body-referenced algorithms.
AngularVelocity: In body coordinates.
AngularAcceleration: In body coordinates.

Reimplemented from sen::util::DeadReckonerBase.

◆ getObject()

template<typename T>

T & sen::util::DeadReckoner< T >::getObject ( )

inlinenodiscardnoexcept

Provides direct mutable access to the internal object managed by this instance of the DeadReckoner.

◆ toSituation()

template<typename T>

Situation sen::util::DeadReckoner< T >::toSituation	(	const SpatialVariant &	spatial,
		sen::TimeStamp	timeStamp = {} )

inlinestaticnodiscard

Translates a SpatialVariant to a Situation struct.

◆ toGeodeticSituation()

template<typename T>

GeodeticSituation sen::util::DeadReckoner< T >::toGeodeticSituation	(	const SpatialVariant &	spatial,
		sen::TimeStamp	timeStamp = {} )

inlinestaticnodiscard

Translates a SpatialVariant to a GeodeticSituation struct.

◆ extrapolate()

template<typename T>

Situation sen::util::DeadReckonerTemplateBase< T >::extrapolate	(	const SpatialVariant &	spatial,
		sen::TimeStamp	time,
		sen::TimeStamp	lastTimeStamp )

inlinestaticnodiscardprotectedinherited

Returns the extrapolated situation of the RPR Entity given its Spatial field and two timestamps that define a time delta for the extrapolation.

◆ updateSituation()

void sen::util::DeadReckonerBase::updateSituation ( const Situation & value )

inherited

Updates the last known real time Situation. A valid timestamp is needed inside the Situation provided as argument.

◆ updateGeodeticSituation()

void sen::util::DeadReckonerBase::updateGeodeticSituation ( const GeodeticSituation & value )

inherited

Updates the last known real time GeodeticSituation. A valid timestamp is needed inside the GeodeticSituation provided as argument.

◆ getConfig()

const DrConfig & sen::util::DeadReckonerBase::getConfig ( ) const

nodiscardnoexceptinherited

◆ setConfig()

void sen::util::DeadReckonerBase::setConfig ( const DrConfig & config )

inherited

◆ getSmoothSituation()

const Situation & sen::util::DeadReckonerBase::getSmoothSituation ( ) const

nodiscardprotectednoexceptinherited

◆ smooth()

void sen::util::DeadReckonerBase::smooth ( const Situation & update )

protectedinherited

◆ invalidateCache()

void sen::util::DeadReckonerBase::invalidateCache ( )

inlineprotectedinherited

◆ isSituationCached()

bool sen::util::DeadReckonerBase::isSituationCached ( sen::TimeStamp timeStamp ) const

inlinenodiscardprotectednoexceptinherited

◆ setCachedSituation()

void sen::util::DeadReckonerBase::setCachedSituation ( const Situation & situation )

inlineprotectedinherited

◆ getCachedSituation()

const Situation & sen::util::DeadReckonerBase::getCachedSituation ( ) const

inlinenodiscardprotectednoexceptinherited

◆ isGeodeticSituationCached()

bool sen::util::DeadReckonerBase::isGeodeticSituationCached ( sen::TimeStamp timeStamp ) const

inlinenodiscardprotectednoexceptinherited

◆ setCachedGeodeticSituation()

void sen::util::DeadReckonerBase::setCachedGeodeticSituation ( const GeodeticSituation & situation )

inlineprotectedinherited

◆ getCachedGeodeticSituation()

const GeodeticSituation & sen::util::DeadReckonerBase::getCachedGeodeticSituation ( ) const

inlinenodiscardprotectednoexceptinherited

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

dead_reckoner.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Parent

◆ SpatialVariant

◆ StaticSpatial

◆ FpsSpatial

◆ RpsSpatial

◆ RvsSpatial

◆ FvsSpatial

◆ RprLocation

◆ RprOrientation

◆ RprVelocity

◆ RprAcceleration

◆ RprAngularVelocity

◆ SituationProcessor

◆ GeodeticSituationProcessor

Constructor & Destructor Documentation

◆ DeadReckoner()

◆ ~DeadReckoner()

Member Function Documentation

◆ situation()

◆ geodeticSituation()

◆ getObject()

◆ toSituation()

◆ toGeodeticSituation()

◆ extrapolate()

◆ updateSituation()

◆ updateGeodeticSituation()

◆ getConfig()

◆ setConfig()

◆ getSmoothSituation()

◆ smooth()

◆ invalidateCache()

◆ isSituationCached()

◆ setCachedSituation()

◆ getCachedSituation()

◆ isGeodeticSituationCached()

◆ setCachedGeodeticSituation()

◆ getCachedGeodeticSituation()