sen::util::DeadReckonerBase Class Reference

Extrapolates the Situation of an entity at a certain time. The extrapolation is smoothed by default unless the user specifies otherwise. More...

#include <dead_reckoner_base.h>

Inheritance diagram for sen::util::DeadReckonerBase:

Public Member Functions
	DeadReckonerBase (DrConfig config={})
virtual	~DeadReckonerBase ()=default
virtual Situation	situation (sen::TimeStamp timeStamp)
	Returns the extrapolated/smoothed situation of the object at the timestamp introduced as argument, expressed in the following coordinates:
virtual GeodeticSituation	geodeticSituation (sen::TimeStamp timeStamp)
	Returns the extrapolated/smoothed situation of the object at the timestamp introduced as argument, expressed in the following coordinates:
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)

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

Detailed Description

Extrapolates the Situation of an entity at a certain time. The extrapolation is smoothed by default unless the user specifies otherwise.

Constructor & Destructor Documentation

DeadReckonerBase()

sen::util::DeadReckonerBase::DeadReckonerBase ( DrConfig config = {} )

explicit

~DeadReckonerBase()

virtual sen::util::DeadReckonerBase::~DeadReckonerBase ( )

virtualdefault

Member Function Documentation

situation()

virtual Situation sen::util::DeadReckonerBase::situation ( sen::TimeStamp timeStamp )

nodiscardvirtual

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 in sen::util::DeadReckoner< T >.

geodeticSituation()

virtual GeodeticSituation sen::util::DeadReckonerBase::geodeticSituation ( sen::TimeStamp timeStamp )

nodiscardvirtual

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 in sen::util::DeadReckoner< T >.

updateSituation()

void sen::util::DeadReckonerBase::updateSituation

(

const Situation &

value

)

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

)

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

nodiscardnoexcept

setConfig()

void sen::util::DeadReckonerBase::setConfig

(

const DrConfig &

config

)

getSmoothSituation()

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

nodiscardprotectednoexcept

smooth()

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

protected

invalidateCache()

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

inlineprotected

isSituationCached()

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

inlinenodiscardprotectednoexcept

setCachedSituation()

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

inlineprotected

getCachedSituation()

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

inlinenodiscardprotectednoexcept

isGeodeticSituationCached()

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

inlinenodiscardprotectednoexcept

setCachedGeodeticSituation()

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

inlineprotected

getCachedGeodeticSituation()

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

inlinenodiscardprotectednoexcept

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

• dead_reckoner_base.h