#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/sensor_interface.h>
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virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ~SensorInterface ()=default |
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virtual void | set_initial_calib (std::shared_ptr< void > calibration)=0 |
| set_initial_calib Sets the calibration of an individual sensor More...
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virtual BufferDataType | Initialize (const Time ×tamp, std::shared_ptr< void > measurement, std::shared_ptr< CoreType > latest_core_data)=0 |
| Initialize the state of an individual sensor. More...
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virtual bool | CalcUpdate (const Time ×tamp, 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. More...
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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 More...
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◆ ~SensorInterface()
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::SensorInterface::~SensorInterface |
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virtualdefault |
◆ set_initial_calib()
virtual void mars::SensorInterface::set_initial_calib |
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std::shared_ptr< void > |
calibration | ) |
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pure virtual |
set_initial_calib Sets the calibration of an individual sensor
- Parameters
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Implemented in mars::ImuSensorClass, mars::VisionSensorClass, mars::VelocitySensorClass, mars::PressureSensorClass, mars::PositionSensorClass, mars::PoseSensorClass, mars::MagSensorClass, mars::GpsVelSensorClass, mars::GpsSensorClass, mars::EmptySensorClass, mars::BodyvelSensorClass, and mars::AttitudeSensorClass.
◆ Initialize()
virtual BufferDataType mars::SensorInterface::Initialize |
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const Time & |
timestamp, |
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std::shared_ptr< void > |
measurement, |
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std::shared_ptr< CoreType > |
latest_core_data |
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pure virtual |
Initialize the state of an individual sensor.
- Parameters
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timestamp | current timestamp |
measurement | current sensor measurement |
latest_core_data | |
- Returns
Implemented in mars::VelocitySensorClass, mars::PositionSensorClass, mars::PoseSensorClass, mars::MagSensorClass, mars::EmptySensorClass, mars::BodyvelSensorClass, mars::AttitudeSensorClass, mars::VisionSensorClass, mars::PressureSensorClass, mars::GpsVelSensorClass, mars::GpsSensorClass, and mars::ImuSensorClass.
◆ CalcUpdate()
virtual bool mars::SensorInterface::CalcUpdate |
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const Time & |
timestamp, |
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std::shared_ptr< void > |
measurement, |
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const CoreStateType & |
prior_core_state_data, |
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std::shared_ptr< void > |
latest_sensor_data, |
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const Eigen::MatrixXd & |
prior_cov, |
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BufferDataType * |
new_state_data |
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pure virtual |
CalcUpdate Calculates the update for an individual sensor definition.
- Parameters
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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
Implemented in mars::AttitudeSensorClass, mars::EmptySensorClass, mars::ImuSensorClass, mars::VisionSensorClass, mars::VelocitySensorClass, mars::PressureSensorClass, mars::PositionSensorClass, mars::PoseSensorClass, mars::MagSensorClass, mars::GpsVelSensorClass, mars::GpsSensorClass, and mars::BodyvelSensorClass.
◆ get_covariance()
virtual Eigen::MatrixXd mars::SensorInterface::get_covariance |
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const std::shared_ptr< void > & |
sensor_data | ) |
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pure virtual |
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
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- Returns
- Covariance matrix contained in the sensor data struct
Implemented in mars::VisionSensorClass, mars::VelocitySensorClass, mars::PressureSensorClass, mars::PositionSensorClass, mars::PoseSensorClass, mars::MagSensorClass, mars::GpsVelSensorClass, mars::GpsSensorClass, mars::EmptySensorClass, mars::BodyvelSensorClass, mars::AttitudeSensorClass, and mars::ImuSensorClass.
The documentation for this class was generated from the following file: