#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/mag/mag_utils.h>

Collaboration diagram for mars::MagnetometerInit:

Classes
class	MagImuData
	The MagImuData class keeps a pair of magnetometer and imu linear acceleration measurements. More...

Public Member Functions
	MagnetometerInit ()=default

void	AddElement (const Eigen::Vector3d &mag_vector, const Eigen::Vector3d &imu_linear_acc_vector)
	AddElement Add magnetometer and imu measurement pairs to buffer IMU and Magnetometer vectors nee to be expressed in the IMU reference frame. More...

Eigen::Matrix3d	get_rot () const
	get_rot Get the rotation matrix for the vector pairs in the buffer More...

Eigen::Quaterniond	get_quat () const
	get_quat Same as 'get_rot' but as quaternion More...

int	get_size () const
	get_size Get the current size of the buffer More...

void	set_done ()
	set_done Set if the rotation initialization was done More...

bool	IsDone () const
	IsDone Check if the initialization was done. More...

void	Reset ()
	Reset Reset the initialization module. More...

MagImuData	get_vec_mean () const
	get_vec_mean Get the mean of the Mag and IMU vectors in the measurement buffer More...

Static Public Member Functions
static Eigen::Vector3d	mag_var_ang_to_vec (const double &dec, const double &inc, const double &r=1)
	mag_var_ang_to_vec Perform Spherical to Cartesian conversion for a vector in the GNSS world frame More...

Private Attributes
std::vector< MagImuData >	rot_init_vec_
	rot_init_vec_ Measurement buffer More...

bool	once_ { false }
	once_ Indicate if the intialization was done More...

Constructor & Destructor Documentation

◆ MagnetometerInit()

mars::MagnetometerInit::MagnetometerInit ( )

default

Member Function Documentation

◆ AddElement()

void mars::MagnetometerInit::AddElement	(	const Eigen::Vector3d &	mag_vector,
		const Eigen::Vector3d &	imu_linear_acc_vector
	)

AddElement Add magnetometer and imu measurement pairs to buffer IMU and Magnetometer vectors nee to be expressed in the IMU reference frame.

Parameters

mag_vector	Magnetic vector expressed in the IMU frame
imu_linear_acc_vector	Linear acceleration vector, assuming static conditions

◆ get_rot()

Eigen::Matrix3d mars::MagnetometerInit::get_rot ( ) const

get_rot Get the rotation matrix for the vector pairs in the buffer

Returns: Rotation of the IMU sensor w.r.t. the world frame

◆ get_quat()

Eigen::Quaterniond mars::MagnetometerInit::get_quat ( ) const

get_quat Same as 'get_rot' but as quaternion

Returns: Rotation of the IMU sensor w.r.t. the world frame

◆ get_size()

int mars::MagnetometerInit::get_size ( ) const

get_size Get the current size of the buffer

Returns: Size of the buffer

◆ set_done()

void mars::MagnetometerInit::set_done ( )

set_done Set if the rotation initialization was done

◆ IsDone()

bool mars::MagnetometerInit::IsDone ( ) const

IsDone Check if the initialization was done.

Returns: True if initialization was done

◆ Reset()

void mars::MagnetometerInit::Reset ( )

Reset Reset the initialization module.

Reset 'isDone' and clear the buffer

◆ mag_var_ang_to_vec()

static Eigen::Vector3d mars::MagnetometerInit::mag_var_ang_to_vec	(	const double &	dec,
		const double &	inc,
		const double &	r = `1`
	)

static

mag_var_ang_to_vec Perform Spherical to Cartesian conversion for a vector in the GNSS world frame

The GNSS world frame is rotated -90deg w.r.t. the magnetic world frame.

Parameters

dec	Declination or azimuth (in degree) of the magnetic field vector
inc	Inclination or elevation (in degree) of the magnetic field vector
r	magnitude of the magnetic field (defaults to 1)

Returns: Carthesian vector

◆ get_vec_mean()

MagImuData mars::MagnetometerInit::get_vec_mean ( ) const

get_vec_mean Get the mean of the Mag and IMU vectors in the measurement buffer

Returns: Return the mean as 'MagImuData' type

Member Data Documentation

◆ rot_init_vec_

std::vector<MagImuData> mars::MagnetometerInit::rot_init_vec_

private

rot_init_vec_ Measurement buffer

◆ once_

bool mars::MagnetometerInit::once_ { false }