Allows the user to get the extrapolated situation of an object and to set the Spatial when the error of the extrapolation exceeds a configurable threshold. More...

#include <settable_dead_reckoner.h>

Inheritance diagram for sen::util::SettableDeadReckoner< 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

Public Member Functions
	SettableDeadReckoner (T &object, DrThreshold thresholds={})
	~SettableDeadReckoner () override=default
T &	object () noexcept
	Returns a mutable reference to the RPR object whose position is extrapolated.
const T &	object () const noexcept
	Returns a constant reference to the RPR object whose position is extrapolated.
bool	setSpatial (const Situation &situation)
	Updates the spatial property of the object when the extrapolation error exceeds the threshold. Returns true if the spatial was updated.
bool	setSpatial (const GeodeticSituation &situation)
	Updates the spatial property of the object from a Geodetic Situation input when the extrapolation error exceeds the threshold. Returns true if the spatial was updated.
void	setFrozen (sen::TimeStamp timeStamp, bool value)
	Directly sets the frozen state of the object's spatial to true/false. The timestamp is needed to coherently apply the new frozen state to the current extrapolated situation.
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

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::SettableDeadReckoner< T >

Allows the user to get the extrapolated situation of an object and to set the Spatial when the error of the extrapolation exceeds a configurable threshold.

Template Parameters

T	rpr::BaseEntityBase or a subclass of it

Member Typedef Documentation

◆ Parent

template<typename T>

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

◆ SpatialVariant

template<typename T>

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

◆ StaticSpatial

template<typename T>

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

◆ FpsSpatial

template<typename T>

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

◆ RpsSpatial

template<typename T>

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

◆ RvsSpatial

template<typename T>

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

◆ FvsSpatial

template<typename T>

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

◆ RprLocation

template<typename T>

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

◆ RprOrientation

template<typename T>

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

◆ RprVelocity

template<typename T>

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

◆ RprAcceleration

template<typename T>

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

◆ RprAngularVelocity

template<typename T>

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

Constructor & Destructor Documentation

◆ SettableDeadReckoner()

template<typename T>

sen::util::SettableDeadReckoner< T >::SettableDeadReckoner	(	T &	object,
		DrThreshold	thresholds = {} )

inlineexplicit

◆ ~SettableDeadReckoner()

template<typename T>

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

overridedefault

Member Function Documentation

◆ object() [1/2]

template<typename T>

T & sen::util::SettableDeadReckoner< T >::object ( )

inlinenodiscardnoexcept

Returns a mutable reference to the RPR object whose position is extrapolated.

◆ object() [2/2]

template<typename T>

const T & sen::util::SettableDeadReckoner< T >::object ( ) const

inlinenodiscardnoexcept

Returns a constant reference to the RPR object whose position is extrapolated.

◆ setSpatial() [1/2]

template<typename T>

bool sen::util::SettableDeadReckoner< T >::setSpatial ( const Situation & situation )

inline

Updates the spatial property of the object when the extrapolation error exceeds the threshold. Returns true if the spatial was updated.

◆ setSpatial() [2/2]

template<typename T>

bool sen::util::SettableDeadReckoner< T >::setSpatial ( const GeodeticSituation & situation )

inline

Updates the spatial property of the object from a Geodetic Situation input when the extrapolation error exceeds the threshold. Returns true if the spatial was updated.

◆ setFrozen()

template<typename T>

void sen::util::SettableDeadReckoner< T >::setFrozen	(	sen::TimeStamp	timeStamp,
		bool	value )

inline

Directly sets the frozen state of the object's spatial to true/false. The timestamp is needed to coherently apply the new frozen state to the current extrapolated situation.

◆ 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.

◆ situation()

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

nodiscardvirtualinherited

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 )

nodiscardvirtualinherited

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 )

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:

settable_dead_reckoner.h

Public Types

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

Constructor & Destructor Documentation

◆ SettableDeadReckoner()

◆ ~SettableDeadReckoner()

Member Function Documentation

◆ object() [1/2]

◆ object() [2/2]

◆ setSpatial() [1/2]

◆ setSpatial() [2/2]

◆ setFrozen()

◆ extrapolate()

◆ situation()

◆ geodeticSituation()

◆ updateSituation()

◆ updateGeodeticSituation()

◆ getConfig()

◆ setConfig()

◆ getSmoothSituation()

◆ smooth()

◆ smoothIfEnabled()

◆ invalidateCache()

◆ isSituationCached()

◆ setCachedSituation()

◆ getCachedSituation()

◆ isGeodeticSituationCached()

◆ setCachedGeodeticSituation()

◆ getCachedGeodeticSituation()