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)
const Situation &	smoothIfEnabled (const Situation &update)
	Smooths the update when configured to and returns what to publish. With smoothing off the walk is skipped and the returned reference is the argument itself.
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

◆ smoothIfEnabled()

const Situation & sen::util::DeadReckonerBase::smoothIfEnabled ( const Situation & update )

nodiscardprotectedinherited

Smooths the update when configured to and returns what to publish. With smoothing off the walk is skipped and the returned reference is the argument itself.

◆ 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()

◆ smoothIfEnabled()

◆ invalidateCache()

◆ isSituationCached()

◆ setCachedSituation()

◆ getCachedSituation()

◆ isGeodeticSituationCached()

◆ setCachedGeodeticSituation()

◆ getCachedGeodeticSituation()