Namespaces
namespace	impl

Classes
struct	IteratorRange
	Basic range abstraction to form a minimal range around two iterators. More...
class	LockedRangeAdapter
	A range adapter to combine a range with lock. More...
struct	SmartPtrIteratorAdapter
	Iterator adapter to turn a iterator that iterates over a smart ptr sequence into one that iterates over pointers to the underlying type. More...
struct	DrConfig
	Length in meters. More...
struct	Location
	World Location struct. More...
struct	GeodeticWorldLocation
	World location in geodetic coordinates. More...
struct	Orientation
	Orientation struct. More...
struct	Velocity
	Velocity struct. More...
struct	Acceleration
	Acceleration struct. More...
struct	AngularVelocity
	AngularVelocity struct. More...
struct	AngularAcceleration
	AngularAcceleration struct. More...
struct	Situation
	Situation structure with the following parameters: More...
struct	GeodeticSituation
	GeodeticSituation structure with the following parameters: More...
class	DeadReckoner
	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...
class	DeadReckonerBase
	Extrapolates the Situation of an entity at a certain time. The extrapolation is smoothed by default unless the user specifies otherwise. More...
class	DeadReckonerTemplateBase
	Base class for the DeadReckoner and SettableDeadReckoner classes. More...
struct	DrThreshold
	Threshold configuration structure with the position error threshold (maximum distance between extrapolation and data) and the entity dynamics (speed and changes of direction). More...
class	SettableDeadReckoner
	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...
class	Mat3
	Handles all mathematical ops involving 3D Matrices. More...
class	Quat
	Quaternion. Represents the orientation of an object in space. More...
struct	HaversineData
	Return type for the haversine helper containing the haversine distance and header between the start and end points. More...
class	Vec3
	Handles all mathematical ops involving 3D Vectors. More...

Typedefs
using	Mat3f = Mat3<f32>
using	Mat3d = Mat3<f64>
using	Quatf = Quat<f32>
using	Quatd = Quat<f64>
using	Vec3f = Vec3<f32>
using	Vec3d = Vec3<f64>

Enumerations
enum class	SpatialAlgorithm { SpatialAlgorithm::drStatic = 0 , SpatialAlgorithm::drFPW = 1 , SpatialAlgorithm::drRPW = 2 , SpatialAlgorithm::drRVW = 3 , SpatialAlgorithm::drFVW = 4 , SpatialAlgorithm::drFPB = 5 , SpatialAlgorithm::drRPB = 6 , SpatialAlgorithm::drRVB = 7 , SpatialAlgorithm::drFVB = 8 }
	Enumeration of the different Spatial algorithms. More...
enum class	ReferenceSystem : u32 { ReferenceSystem::world , ReferenceSystem::body }
	Enumeration of the reference system: world-centered or body-centered. More...

Functions
template<typename IteratorType>
IteratorRange< IteratorType >	makeRange (IteratorType begin, IteratorType end)
	Create a simple range for the two iterators.
template<typename ContainerType>
auto	makeRange (ContainerType &container)
	Create a simple range for the given container.
template<template< typename > typename LockType, typename IteratorType, typename MutexType>
auto	makeLockedRange (IteratorType begin, IteratorType end, MutexType &m)
	Create a LockedRangeAdapter for the given iterator pair and lock the given mutex.
template<template< typename > typename LockType, typename ContainerType, typename MutexType>
auto	makeLockedRange (ContainerType &container, MutexType &m)
	Create a LockedRangeAdapter for the given container and lock the given mutex.
Situation	drFpw (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the FPW algorithm.
Situation	drFpb (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the FPB algorithm. The velocity is expressed in body coordinates.
Situation	drRpw (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the RPW algorithm.
Situation	drRpb (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the RPB algorithm. The input situation should be expressed in body coordinates and the returned situation in world coordinates.
Situation	drRvw (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the RVW algorithm.
Situation	drRvb (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the RVB algorithm.
Situation	drFvw (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the FVW algorithm.
Situation	drFvb (const Situation &value, sen::TimeStamp time) noexcept
	Returns the extrapolated situation using the FVB algorithm.
GeodeticSituation	toGeodeticSituation (const Situation &value)
	Transform a Situation to a GeodeticSituation.
Situation	toSituation (const GeodeticSituation &value)
	Transforms a GeodeticSituation to a Situation.
Location	toWorldLocation (const Vec3d &value)
	Translates a Vec3d instance to an RPR world location structure.
Vec3d	fromWorldLocation (const Location &value)
	Converts an RPR world location structure to a Vec3d instance.
Vec3d	fromVelocity (const Velocity &value)
	Converts an RPR velocity vector structure to a Vec3d instance.
Velocity	toVelocity (const Vec3d &value)
	Converts a Vec3 to a RPR velocity vector structure.
Vec3d	fromAcceleration (const Acceleration &value)
	Converts an RPR acceleration vector structure to a Vec3d instance.
Acceleration	toAcceleration (const Vec3d &value)
	Converts an RPR acceleration vector structure to a Vec3d instance.
AngularAcceleration	toAngularAcceleration (const Vec3d &value)
	Converts an RPR angular acceleration vector structure to a Vec3d instance.
Vec3d	fromAngularVelocity (const AngularVelocity &value)
	Converts an RPR angular velocity vector structure to a Vec3d instance.
Vec3d	fromAngularAcceleration (const AngularAcceleration &value)
AngularVelocity	toAngularVelocity (const Vec3d &value)
	Converts an RPR angular velocity vector structure to a Vec3d instance.
Orientation	toOrientation (const Vec3d &value)
	Translates a Vec3d instance to an RPR orientation structure.
Vec3d	fromOrientationToVec (const Orientation &value)
	Converts an RPR orientation structure to a Vec3d instance.
Quatd	fromOrientationToQuat (const Orientation &value)
	Converts an RPR orientation structure to a Quatf instance.
Vec3d	nedToEcef (const Vec3d &value, const GeodeticWorldLocation &latLonAlt) noexcept
	Translates from NED to ECEF location coordinates using quaternions.
Vec3d	ecefToNed (const Vec3d &value, const GeodeticWorldLocation &latLonAlt) noexcept
	Translates from ECEF to NED location coordinates using quaternions.
Vec3d	bodyToNed (const Vec3d &value, const Orientation &orientationNed) noexcept
	Changes the basis of a vector from body referenced coordinates to NED coordinates.
Vec3d	nedToBody (const Vec3d &value, const Orientation &orientationNed) noexcept
	Changes the basis of a vector from NED coordinates to body referenced coordinates.
f64	toRad (f64 value) noexcept
	Degrees to radians.
f64	toDeg (f64 value) noexcept
	Radians to degrees.
Mat3d	makeR1 (const Vec3d &omega, f64 delta)
	Returns the R1 matrix used in the Dead Reckoning algorithms involving velocity in body coordinates.
Mat3d	makeR2 (const Vec3d &omega, f64 delta)
	Returns the R2 matrix used in the Dead Reckoning algorithms involving acceleration in body coordinates.
Vec3d	bodyToWorld (const Vec3d &value, const Orientation &bodyEulerAngles) noexcept
	Transforms a vector from body coordinates (x forward, y right, z down ) to world coordinates using quaternions given the Euler Angles of the transformation from the world reference system to the body reference system.
Vec3d	worldToBody (const Vec3d &value, const Orientation &bodyEulerAngles) noexcept
	Transforms a vector from world coordinates (ECEF) to body coordinates using quaternions given the Euler Angles of the transformation from the world reference system to the body reference system.
Location	extrapolateLocationWorld (const Situation &value, sen::Duration delta) noexcept
	Extrapolates the WorldLocation for the algorithms that use the World reference system.
Location	extrapolateLocationBody (const Situation &value, sen::Duration delta) noexcept
	Extrapolates the WorldLocation for the algorithms that use the Body reference system.
Velocity	extrapolateVelocity (const Velocity &value, const Acceleration &acceleration, sen::Duration delta) noexcept
	Extrapolates Velocities with constant Acceleration.
Orientation	extrapolateOrientation (const Orientation &value, sen::Duration delta, const AngularVelocity &angularVelocity, const AngularAcceleration &angularAcceleration={}) noexcept
	Performs a linear extrapolation the orientation of an entity using quaternions given a delta of time and the angular velocity in world coordinates.
std::array< Vec3d, 3U >	getNedTrihedron (const GeodeticWorldLocation &location)
	Returns the NED trihedron at a certain world location given the Latitude and Longitude.
Orientation	eulerAnglesFromTrihedrons (const Vec3d &xi, const Vec3d &yi, const Vec3d &zi, const Vec3d &xf, const Vec3d &yf)
	Given two trihedrons of vectors, computes the Euler Angles needed to transform the initial trihedron (xi, yi, zi) into the final trihedron (xf, yf, zf).
HaversineData	haversine (const GeodeticWorldLocation &start, const GeodeticWorldLocation &end)
	Given the start and end Geodetic Locations, returns the Haversine distance and heading.
f64	hypot (f64 var1, f64 var2) noexcept
	Computes the hypotenuse given the sides.
bool	hasVelocity (const Velocity &velocity) noexcept
	Returns true if any of the components of the entity velocity is bigger than 0.1 m/s.
bool	hasAcceleration (const Acceleration &acceleration) noexcept
	Returns true if any of the components of the entity acceleration is bigger than 0.1 m/s2.
bool	hasAngularVelocity (const AngularVelocity &omega) noexcept
	Returns true if any of the components of the entity angular velocity is bigger than 1e-3 rad/s.

Variables
constexpr std::array< SpatialAlgorithm, 4U >	bodyAlgorithms
constexpr f64	pi = 3.14159265358979323846
	PI constant.
constexpr f32	pif = static_cast<f32>(pi)
constexpr f64	twoPi = 2.0 * pi
	2 * PI constant
constexpr f64	halfPi = pi * 0.5
	PI / 2 constant.
constexpr f64	earthSemiMajorAxis = 6378137.0
	Earth's semi.major axis in meters.
constexpr f64	earthFlattening = 1.0 / 298.257223563
	Earth's flattening.
constexpr f64	eccentricitySquared = 6.69437999014e-3
	Square of first eccentricity.
constexpr f32	epsilon = 0.1f
	Min value used to determine that an entity is not moving/accelerating.

Class Documentation

◆ sen::util::HaversineData

struct sen::util::HaversineData

Return type for the haversine helper containing the haversine distance and header between the start and end points.

Class Members
LengthMeters	distance
AngleRadians	heading
AngleRadians	pitch

Typedef Documentation

◆ Mat3f

using sen::util::Mat3f = Mat3<f32>

◆ Mat3d

using sen::util::Mat3d = Mat3<f64>

◆ Quatf

using sen::util::Quatf = Quat<f32>

◆ Quatd

using sen::util::Quatd = Quat<f64>

◆ Vec3f

using sen::util::Vec3f = Vec3<f32>

◆ Vec3d

using sen::util::Vec3d = Vec3<f64>

Function Documentation

◆ makeRange() [1/2]

template<typename IteratorType>

IteratorRange< IteratorType > sen::util::makeRange	(	IteratorType	begin,
		IteratorType	end )

Create a simple range for the two iterators.

Parameters

[in]	begin	of the range
[in]	end	of the range

Example:

struct Foo
{
  auto values() const { return makeRange(myValues.begin(), myValues.end()); }
private:
  std::vector<int> myValues;
};

◆ makeRange() [2/2]

template<typename ContainerType>

auto sen::util::makeRange ( ContainerType & container )

Create a simple range for the given container.

Parameters

[in] container to iterate over

Example:

struct Foo
{
  auto values() const { return makeRange(myValues); }
private:
  std::vector<int> myValues;
};

◆ makeLockedRange() [1/2]

template<template< typename > typename LockType, typename IteratorType, typename MutexType>

auto sen::util::makeLockedRange	(	IteratorType	begin,
		IteratorType	end,
		MutexType &	m )

Create a LockedRangeAdapter for the given iterator pair and lock the given mutex.

Template Parameters

LockType type of the lock that should be created

Parameters

[in]	begin	of the range
[in]	end	of the range
[in]	mutex	that should be locked

Example:

for (auto x : makeLockedRange<std::lock_guard>(foo.begin(), foo.end(), fooMutex))
{
  // ensures the lock is held during the loop
} // lock release after the loop

◆ makeLockedRange() [2/2]

template<template< typename > typename LockType, typename ContainerType, typename MutexType>

auto sen::util::makeLockedRange	(	ContainerType &	container,
		MutexType &	m )

Create a LockedRangeAdapter for the given container and lock the given mutex.

Template Parameters

LockType type of the lock that should be created

Parameters

[in]	container	to wrap the range around
[in]	mutex	that should be locked

Example:

for (auto x : makeLockedRange<std::lock_guard>(fooVector, fooMutex))
{
  // ensures the lock is held during the loop
} // lock release after the loop

◆ toGeodeticSituation()

GeodeticSituation sen::util::toGeodeticSituation ( const Situation & value )

inlinenodiscard

Transform a Situation to a GeodeticSituation.

◆ toSituation()

Situation sen::util::toSituation ( const GeodeticSituation & value )

inlinenodiscard

Transforms a GeodeticSituation to a Situation.

◆ toWorldLocation()

Location sen::util::toWorldLocation ( const Vec3d & value )

nodiscard

Translates a Vec3d instance to an RPR world location structure.

◆ fromWorldLocation()

Vec3d sen::util::fromWorldLocation ( const Location & value )

nodiscard

Converts an RPR world location structure to a Vec3d instance.

◆ fromVelocity()

Vec3d sen::util::fromVelocity ( const Velocity & value )

nodiscard

Converts an RPR velocity vector structure to a Vec3d instance.

◆ toVelocity()

Velocity sen::util::toVelocity ( const Vec3d & value )

nodiscard

Converts a Vec3 to a RPR velocity vector structure.

◆ fromAcceleration()

Vec3d sen::util::fromAcceleration ( const Acceleration & value )

nodiscard

Converts an RPR acceleration vector structure to a Vec3d instance.

◆ toAcceleration()

Acceleration sen::util::toAcceleration ( const Vec3d & value )

nodiscard

Converts an RPR acceleration vector structure to a Vec3d instance.

◆ toAngularAcceleration()

AngularAcceleration sen::util::toAngularAcceleration ( const Vec3d & value )

nodiscard

Converts an RPR angular acceleration vector structure to a Vec3d instance.

◆ fromAngularVelocity()

Vec3d sen::util::fromAngularVelocity ( const AngularVelocity & value )

nodiscard

Converts an RPR angular velocity vector structure to a Vec3d instance.

◆ fromAngularAcceleration()

Vec3d sen::util::fromAngularAcceleration ( const AngularAcceleration & value )

nodiscard

◆ toAngularVelocity()

AngularVelocity sen::util::toAngularVelocity ( const Vec3d & value )

nodiscard

Converts an RPR angular velocity vector structure to a Vec3d instance.

◆ toOrientation()

Orientation sen::util::toOrientation ( const Vec3d & value )

nodiscard

Translates a Vec3d instance to an RPR orientation structure.

◆ fromOrientationToVec()

Vec3d sen::util::fromOrientationToVec ( const Orientation & value )

nodiscard

Converts an RPR orientation structure to a Vec3d instance.

◆ fromOrientationToQuat()

Quatd sen::util::fromOrientationToQuat ( const Orientation & value )

nodiscard

Converts an RPR orientation structure to a Quatf instance.

◆ nedToEcef()

Vec3d sen::util::nedToEcef	(	const Vec3d &	value,
		const GeodeticWorldLocation &	latLonAlt )

nodiscardnoexcept

Translates from NED to ECEF location coordinates using quaternions.

◆ ecefToNed()

Vec3d sen::util::ecefToNed	(	const Vec3d &	value,
		const GeodeticWorldLocation &	latLonAlt )

nodiscardnoexcept

Translates from ECEF to NED location coordinates using quaternions.

◆ bodyToNed()

Vec3d sen::util::bodyToNed	(	const Vec3d &	value,
		const Orientation &	orientationNed )

nodiscardnoexcept

Changes the basis of a vector from body referenced coordinates to NED coordinates.

◆ nedToBody()

Vec3d sen::util::nedToBody	(	const Vec3d &	value,
		const Orientation &	orientationNed )

nodiscardnoexcept

Changes the basis of a vector from NED coordinates to body referenced coordinates.

◆ toRad()

f64 sen::util::toRad ( f64 value )

nodiscardnoexcept

Degrees to radians.

◆ toDeg()

f64 sen::util::toDeg ( f64 value )

nodiscardnoexcept

Radians to degrees.

◆ makeR1()

Mat3d sen::util::makeR1	(	const Vec3d &	omega,
		f64	delta )

nodiscard

Returns the R1 matrix used in the Dead Reckoning algorithms involving velocity in body coordinates.

◆ makeR2()

Mat3d sen::util::makeR2	(	const Vec3d &	omega,
		f64	delta )

nodiscard

Returns the R2 matrix used in the Dead Reckoning algorithms involving acceleration in body coordinates.

◆ bodyToWorld()

Vec3d sen::util::bodyToWorld	(	const Vec3d &	value,
		const Orientation &	bodyEulerAngles )

nodiscardnoexcept

Transforms a vector from body coordinates (x forward, y right, z down ) to world coordinates using quaternions given the Euler Angles of the transformation from the world reference system to the body reference system.

◆ worldToBody()

Vec3d sen::util::worldToBody	(	const Vec3d &	value,
		const Orientation &	bodyEulerAngles )

nodiscardnoexcept

Transforms a vector from world coordinates (ECEF) to body coordinates using quaternions given the Euler Angles of the transformation from the world reference system to the body reference system.

◆ extrapolateLocationWorld()

Location sen::util::extrapolateLocationWorld	(	const Situation &	value,
		sen::Duration	delta )

nodiscardnoexcept

Extrapolates the WorldLocation for the algorithms that use the World reference system.

◆ extrapolateLocationBody()

Location sen::util::extrapolateLocationBody	(	const Situation &	value,
		sen::Duration	delta )

nodiscardnoexcept

Extrapolates the WorldLocation for the algorithms that use the Body reference system.

◆ extrapolateVelocity()

Velocity sen::util::extrapolateVelocity	(	const Velocity &	value,
		const Acceleration &	acceleration,
		sen::Duration	delta )

nodiscardnoexcept

Extrapolates Velocities with constant Acceleration.

◆ extrapolateOrientation()

Orientation sen::util::extrapolateOrientation	(	const Orientation &	value,
		sen::Duration	delta,
		const AngularVelocity &	angularVelocity,
		const AngularAcceleration &	angularAcceleration = {} )

nodiscardnoexcept

Performs a linear extrapolation the orientation of an entity using quaternions given a delta of time and the angular velocity in world coordinates.

◆ getNedTrihedron()

std::array< Vec3d, 3U > sen::util::getNedTrihedron ( const GeodeticWorldLocation & location )

nodiscard

Returns the NED trihedron at a certain world location given the Latitude and Longitude.

◆ eulerAnglesFromTrihedrons()

Orientation sen::util::eulerAnglesFromTrihedrons	(	const Vec3d &	xi,
		const Vec3d &	yi,
		const Vec3d &	zi,
		const Vec3d &	xf,
		const Vec3d &	yf )

nodiscard

Given two trihedrons of vectors, computes the Euler Angles needed to transform the initial trihedron (xi, yi, zi) into the final trihedron (xf, yf, zf).

◆ haversine()

HaversineData sen::util::haversine	(	const GeodeticWorldLocation &	start,
		const GeodeticWorldLocation &	end )

nodiscard

Given the start and end Geodetic Locations, returns the Haversine distance and heading.

◆ hypot()

f64 sen::util::hypot	(	f64	var1,
		f64	var2 )

nodiscardnoexcept

Computes the hypotenuse given the sides.

◆ hasVelocity()

bool sen::util::hasVelocity ( const Velocity & velocity )

nodiscardnoexcept

Returns true if any of the components of the entity velocity is bigger than 0.1 m/s.

◆ hasAcceleration()

bool sen::util::hasAcceleration ( const Acceleration & acceleration )

nodiscardnoexcept

Returns true if any of the components of the entity acceleration is bigger than 0.1 m/s2.

◆ hasAngularVelocity()

bool sen::util::hasAngularVelocity ( const AngularVelocity & omega )

nodiscardnoexcept

Returns true if any of the components of the entity angular velocity is bigger than 1e-3 rad/s.

Variable Documentation

◆ pi

f64 sen::util::pi = 3.14159265358979323846

constexpr

PI constant.

◆ pif

f32 sen::util::pif = static_cast<f32>(pi)

constexpr

◆ twoPi

f64 sen::util::twoPi = 2.0 * pi

constexpr

2 * PI constant

◆ halfPi

f64 sen::util::halfPi = pi * 0.5

constexpr

PI / 2 constant.

◆ earthSemiMajorAxis

f64 sen::util::earthSemiMajorAxis = 6378137.0

constexpr

Earth's semi.major axis in meters.

◆ earthFlattening

f64 sen::util::earthFlattening = 1.0 / 298.257223563

constexpr

Earth's flattening.

◆ eccentricitySquared

f64 sen::util::eccentricitySquared = 6.69437999014e-3

constexpr

Square of first eccentricity.

◆ epsilon

f32 sen::util::epsilon = 0.1f

constexpr

Min value used to determine that an entity is not moving/accelerating.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Class Documentation

◆ sen::util::HaversineData

Typedef Documentation

◆ Mat3f

◆ Mat3d

◆ Quatf

◆ Quatd

◆ Vec3f

◆ Vec3d

Function Documentation

◆ makeRange() [1/2]

◆ makeRange() [2/2]

◆ makeLockedRange() [1/2]

◆ makeLockedRange() [2/2]

◆ toGeodeticSituation()

◆ toSituation()

◆ toWorldLocation()

◆ fromWorldLocation()

◆ fromVelocity()

◆ toVelocity()

◆ fromAcceleration()

◆ toAcceleration()

◆ toAngularAcceleration()

◆ fromAngularVelocity()

◆ fromAngularAcceleration()

◆ toAngularVelocity()

◆ toOrientation()

◆ fromOrientationToVec()

◆ fromOrientationToQuat()

◆ nedToEcef()

◆ ecefToNed()

◆ bodyToNed()

◆ nedToBody()

◆ toRad()

◆ toDeg()

◆ makeR1()

◆ makeR2()

◆ bodyToWorld()

◆ worldToBody()

◆ extrapolateLocationWorld()

◆ extrapolateLocationBody()

◆ extrapolateVelocity()

◆ extrapolateOrientation()

◆ getNedTrihedron()

◆ eulerAnglesFromTrihedrons()

◆ haversine()

◆ hypot()

◆ hasVelocity()

◆ hasAcceleration()

◆ hasAngularVelocity()

Variable Documentation

◆ pi

◆ pif

◆ twoPi

◆ halfPi

◆ earthSemiMajorAxis

◆ earthFlattening

◆ eccentricitySquared

◆ epsilon