mars::ImuSensorClass Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/imu/imu_sensor_class.h>

Inheritance diagram for mars::ImuSensorClass:

Collaboration diagram for mars::ImuSensorClass:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ImuSensorClass (const std::string &name)
virtual	~ImuSensorClass ()=default
Eigen::MatrixXd	get_covariance (const std::shared_ptr< void > &)
	get_covariance Resolves a void pointer to the covariance matrix of the corresponding sensor type Each sensor is responsible to cast its own data type More...
void	set_initial_calib (std::shared_ptr< void >)
	set_initial_calib Sets the calibration of an individual sensor More...
BufferDataType	Initialize (const Time &, std::shared_ptr< void >, std::shared_ptr< CoreType >)
	Initialize the state of an individual sensor. More...
bool	CalcUpdate (const Time &, std::shared_ptr< void >, const CoreStateType &, std::shared_ptr< void >, const Eigen::MatrixXd &, BufferDataType *)
	CalcUpdate Calculates the update for an individual sensor definition. More...
Public Member Functions inherited from mars::SensorInterface
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~SensorInterface ()=default

Additional Inherited Members
Public Attributes inherited from mars::SensorAbsClass
int	id_ { -1 }
std::string	name_
	Name of the individual sensor instance. More...
bool	is_initialized_ { false }
	True if the sensor has been initialized. More...
bool	do_update_ { true }
	True if updates should be performed with the sensor. More...
int	type_ { -1 }
	Future feature, holds information such as position or orientation for highlevel decissions. More...
bool	const_ref_to_nav_ { true }
	True if the reference should not be estimated. More...
bool	ref_to_nav_given_ { false }
	True if the reference to the navigation frame is given by initial calibration. More...
bool	use_dynamic_meas_noise_ { false }
	True if dynamic noise values from measurements should be used. More...

Constructor & Destructor Documentation

ImuSensorClass()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::ImuSensorClass::ImuSensorClass ( const std::string &  name )

inline

  {
    name_ = name;
    std::cout << "Created: [" << this->name_ << "] Sensor" << std::endl;
  }

~ImuSensorClass()

virtual mars::ImuSensorClass::~ImuSensorClass ( )

virtualdefault

Member Function Documentation

get_covariance()

Eigen::MatrixXd mars::ImuSensorClass::get_covariance ( const std::shared_ptr< void > &  sensor_data )

inlinevirtual

get_covariance Resolves a void pointer to the covariance matrix of the corresponding sensor type Each sensor is responsible to cast its own data type

Parameters

sensor_data

Returns

Covariance matrix contained in the sensor data struct

Implements mars::SensorInterface.

  {
    return {};
  }

set_initial_calib()

void mars::ImuSensorClass::set_initial_calib ( std::shared_ptr< void >  calibration )

inlinevirtual

set_initial_calib Sets the calibration of an individual sensor

Parameters

calibration

Implements mars::SensorInterface.

  {
  }

Initialize()

BufferDataType mars::ImuSensorClass::Initialize ( const Time &  timestamp, std::shared_ptr< void >  measurement, std::shared_ptr< CoreType >  latest_core_data  )

inlinevirtual

Initialize the state of an individual sensor.

Parameters

timestamp	current timestamp
measurement	current sensor measurement
latest_core_data

Returns

Implements mars::SensorInterface.

  {
    return {};
  }

CalcUpdate()

bool mars::ImuSensorClass::CalcUpdate ( const Time &  timestamp, std::shared_ptr< void >  measurement, const CoreStateType &  prior_core_state_data, std::shared_ptr< void >  latest_sensor_data, const Eigen::MatrixXd &  prior_cov, BufferDataType *  new_state_data  )

inlinevirtual

CalcUpdate Calculates the update for an individual sensor definition.

Parameters

timestamp	current timestamp
measurement	current sensor measurement
prior_core_state_data
latest_sensor_data
prior_cov	Prior covariance containing core, sensor and sensor cross covariance
new_state_data	Updated state data

Returns

True if the update was successful, false if the update was rejected

Implements mars::SensorInterface.

  {
    return false;
  }

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

• imu_sensor_class.h