mars::SensorInterface Class Reference

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

Inheritance diagram for mars::SensorInterface:

Collaboration diagram for mars::SensorInterface:

Public Member Functions
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

Constructor & Destructor Documentation

~SensorInterface()

virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::SensorInterface::~SensorInterface ( )

virtualdefault

Member Function Documentation

set_initial_calib()

virtual void mars::SensorInterface::set_initial_calib ( std::shared_ptr< void >  calibration )

pure virtual

set_initial_calib Sets the calibration of an individual sensor

Parameters

calibration

Implemented in mars::AttitudeSensorClass, mars::BodyvelSensorClass, mars::EmptySensorClass, mars::GpsSensorClass, mars::GpsVelSensorClass, mars::MagSensorClass, mars::PoseSensorClass, mars::PositionSensorClass, mars::PressureSensorClass, mars::VelocitySensorClass, mars::VisionSensorClass, and mars::ImuSensorClass.

Initialize()

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

pure virtual

Initialize the state of an individual sensor.

Parameters

timestamp	current timestamp
measurement	current sensor measurement
latest_core_data

Returns

Implemented in mars::ImuSensorClass, mars::GpsSensorClass, mars::GpsVelSensorClass, mars::PressureSensorClass, mars::VisionSensorClass, mars::AttitudeSensorClass, mars::BodyvelSensorClass, mars::EmptySensorClass, mars::MagSensorClass, mars::PoseSensorClass, mars::PositionSensorClass, and mars::VelocitySensorClass.

CalcUpdate()

virtual bool mars::SensorInterface::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  )

pure virtual

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

Implemented in mars::BodyvelSensorClass, mars::GpsSensorClass, mars::GpsVelSensorClass, mars::MagSensorClass, mars::PoseSensorClass, mars::PositionSensorClass, mars::PressureSensorClass, mars::VelocitySensorClass, mars::VisionSensorClass, mars::ImuSensorClass, mars::EmptySensorClass, and mars::AttitudeSensorClass.

get_covariance()

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

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

sensor_data

Returns

Covariance matrix contained in the sensor data struct

Implemented in mars::ImuSensorClass, mars::AttitudeSensorClass, mars::BodyvelSensorClass, mars::EmptySensorClass, mars::GpsSensorClass, mars::GpsVelSensorClass, mars::MagSensorClass, mars::PoseSensorClass, mars::PositionSensorClass, mars::PressureSensorClass, mars::VelocitySensorClass, and mars::VisionSensorClass.

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

• sensor_interface.h