mars::ReadSimData Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/data_utils/read_sim_data.h>

Collaboration diagram for mars::ReadSimData:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ReadSimData (std::vector< BufferEntryType > *data_out, std::shared_ptr< SensorAbsClass > sensor, const std::string &file_path)

Constructor & Destructor Documentation

ReadSimData()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::ReadSimData::ReadSimData ( std::vector< BufferEntryType > *  data_out, std::shared_ptr< SensorAbsClass >  sensor, const std::string &  file_path  )

inline

  {
    std::vector<std::string> expect_entry = {
      "t",   "a_x", "a_y", "a_z", "w_x", "w_y",  "w_z",  "p_x",  "p_y",  "p_z",  "v_x",  "v_y",
      "v_z", "q_w", "q_x", "q_y", "q_z", "ba_x", "ba_y", "ba_z", "bw_x", "bw_y", "bw_z",
    };
 
    CsvDataType csv_data;
    ReadCsv(&csv_data, file_path);
 
    unsigned long number_of_datapoints = csv_data["t"].size();
    data_out->resize(number_of_datapoints);
 
    CoreStateType core_ground_truth;
 
    for (size_t k = 0; k < number_of_datapoints; k++)
    {
      Time time = csv_data["t"][k];
 
      Eigen::Vector3d w_imu(csv_data["w_x"][k], csv_data["w_y"][k], csv_data["w_z"][k]);
      Eigen::Vector3d a_imu(csv_data["a_x"][k], csv_data["a_y"][k], csv_data["a_z"][k]);
      Eigen::Vector3d p(csv_data["p_x"][k], csv_data["p_y"][k], csv_data["p_z"][k]);
      Eigen::Vector3d v(csv_data["v_x"][k], csv_data["v_y"][k], csv_data["v_z"][k]);
      Eigen::Quaterniond q(csv_data["q_w"][k], csv_data["q_x"][k], csv_data["q_y"][k], csv_data["q_z"][k]);
      q = Utils::NormalizeQuaternion(q, "sim csv reader");
 
      Eigen::Vector3d bGyr(csv_data["bw_x"][k], csv_data["bw_y"][k], csv_data["bw_z"][k]);
      Eigen::Vector3d bAcc(csv_data["ba_x"][k], csv_data["ba_y"][k], csv_data["ba_z"][k]);
 
      CoreStateType core_ground_truth;
      core_ground_truth.p_wi_ = p;
      core_ground_truth.q_wi_ = q;
      core_ground_truth.v_wi_ = v;
      core_ground_truth.b_w_ = bGyr;
      core_ground_truth.b_a_ = bAcc;
 
      BufferDataType data;
      // TODO
      // data.set_core_state(std::make_shared<CoreStateType>(core_ground_truth));
      data.set_measurement(std::make_shared<IMUMeasurementType>(a_imu, w_imu));
 
      BufferEntryType current_entry(time, data, sensor);
      data_out->at(k) = current_entry;
    }
  }

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

• read_sim_data.h