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)
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

Detailed Description

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

Extrapolates with drRvw only: a Situation does not carry which of the nine algorithms describes its movement. DeadReckonerTemplateBase takes the Spatial variant, which does, and selects from it.

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

smoothIfEnabled()

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

nodiscardprotected

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 ( )

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:

• detail/dead_reckoner_base.h