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.
void	setSpatial (const Situation &situation)
	Updates the spatial property of the object if the update period is exceeded or if the extrapolation error exceeds the threshold.
void	setSpatial (const GeodeticSituation &situation)
	Updates the spatial property of the object from a Geodetic Situation input if the update period is exceeded or if the extrapolation error exceeds the threshold.
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)
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>

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

inline

Updates the spatial property of the object if the update period is exceeded or if the extrapolation error exceeds the threshold.

◆ setSpatial() [2/2]

template<typename T>

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

inline

Updates the spatial property of the object from a Geodetic Situation input if the update period is exceeded or if the extrapolation error exceeds the threshold.

◆ 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

◆ 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()

◆ invalidateCache()

◆ isSituationCached()

◆ setCachedSituation()

◆ getCachedSituation()

◆ isGeodeticSituationCached()

◆ setCachedGeodeticSituation()

◆ getCachedGeodeticSituation()