mars::SensorAbsClass Class Reference

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

Inheritance diagram for mars::SensorAbsClass:

Collaboration diagram for mars::SensorAbsClass:

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

Friends
std::ostream &	operator<< (std::ostream &out, const SensorAbsClass &sensor)
	operator << Overload the << operator for easy printing of the sensor information

Additional Inherited Members
Public Member Functions inherited from mars::SensorInterface
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~SensorInterface ()=default
virtual void	set_initial_calib (std::shared_ptr< void > calibration)=0
	set_initial_calib Sets the calibration of an individual sensor
virtual BufferDataType	Initialize (const Time &timestamp, std::shared_ptr< void > measurement, std::shared_ptr< CoreType > latest_core_data)=0
	Initialize the state of an individual sensor.
virtual bool	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)=0
	CalcUpdate Calculates the update for an individual sensor definition.
virtual Eigen::MatrixXd	get_covariance (const std::shared_ptr< void > &sensor_data)=0
	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

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  out, const SensorAbsClass &  sensor  )

friend

operator << Overload the << operator for easy printing of the sensor information

  {
    out << "\tSensor: " << sensor.name_ << std::endl;
    out << "\tInitialized: " << sensor.is_initialized_ << std::endl;
    out << "\tDo update: " << sensor.do_update_ << std::endl;
    out << "\tReference to nav: " << sensor.const_ref_to_nav_ << std::endl;
    out << "\tUse dynamic noise: " << sensor.use_dynamic_meas_noise_ << std::endl;
    return out;
  }

Member Data Documentation

id_

int mars::SensorAbsClass::id_ { -1 }

{ -1 };

name_

std::string mars::SensorAbsClass::name_

Name of the individual sensor instance.

is_initialized_

bool mars::SensorAbsClass::is_initialized_ { false }

True if the sensor has been initialized.

{ false };  

do_update_

bool mars::SensorAbsClass::do_update_ { true }

True if updates should be performed with the sensor.

{ true };        

type_

int mars::SensorAbsClass::type_ { -1 }

Future feature, holds information such as position or orientation for highlevel decissions.

{ -1 };  

const_ref_to_nav_

bool mars::SensorAbsClass::const_ref_to_nav_ { true }

True if the reference should not be estimated.

{ true };   

ref_to_nav_given_

bool mars::SensorAbsClass::ref_to_nav_given_ { false }

True if the reference to the navigation frame is given by initial calibration.

{ false };  

use_dynamic_meas_noise_

bool mars::SensorAbsClass::use_dynamic_meas_noise_ { false }

True if dynamic noise values from measurements should be used.

{ false };  

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

• sensor_abs_class.h