mars::UpdateSensorAbsClass Class Reference

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

Inheritance diagram for mars::UpdateSensorAbsClass:

Collaboration diagram for mars::UpdateSensorAbsClass:

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	aux_states_
int	aux_error_states_
int	ref_to_nav_
Eigen::MatrixXd	residual_
Eigen::VectorXd	R_
	Measurement noise "squared".
Eigen::MatrixXd	F_
Eigen::MatrixXd	H_
Eigen::MatrixXd	Q_
std::shared_ptr< void >	initial_calib_ { nullptr }
bool	initial_calib_provided_ { false }
	True if an initial calibration was provided.
Chi2	chi2_
std::shared_ptr< CoreState >	core_states_
Public Attributes inherited from mars::SensorAbsClass
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.

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

Member Data Documentation

aux_states_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int mars::UpdateSensorAbsClass::aux_states_

aux_error_states_

int mars::UpdateSensorAbsClass::aux_error_states_

ref_to_nav_

int mars::UpdateSensorAbsClass::ref_to_nav_

residual_

Eigen::MatrixXd mars::UpdateSensorAbsClass::residual_

R_

Eigen::VectorXd mars::UpdateSensorAbsClass::R_

Measurement noise "squared".

F_

Eigen::MatrixXd mars::UpdateSensorAbsClass::F_

H_

Eigen::MatrixXd mars::UpdateSensorAbsClass::H_

Q_

Eigen::MatrixXd mars::UpdateSensorAbsClass::Q_

initial_calib_

std::shared_ptr<void> mars::UpdateSensorAbsClass::initial_calib_ { nullptr }

{ nullptr };

initial_calib_provided_

bool mars::UpdateSensorAbsClass::initial_calib_provided_ { false }

True if an initial calibration was provided.

{ false };  

chi2_

Chi2 mars::UpdateSensorAbsClass::chi2_

core_states_

std::shared_ptr<CoreState> mars::UpdateSensorAbsClass::core_states_

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

• update_sensor_abs_class.h