mars::Utils Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/general_functions/utils.h>

Collaboration diagram for mars::Utils:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Utils ()

Static Public Member Functions
static std::string	get_mars_version_string ()
	get_mars_version_string
static void	PrintMarsVersion ()
	PrintMarsVersion.
static void	TransformImu (const mars::IMUMeasurementType &prev, const mars::IMUMeasurementType &now, const double &dt, const Eigen::Vector3d &p_ab, const Eigen::Quaterniond &q_ab, mars::IMUMeasurementType &result)
	TransformImu Transform IMU measurements from current frame A to frame B.
static void	TransformImu (const mars::IMUMeasurementType &now, const Eigen::Vector3d &p_ab, const Eigen::Quaterniond &q_ab, mars::IMUMeasurementType &result)
	TransformImu Transform IMU measurements from current frame A to frame B.
static Eigen::Matrix3d	Skew (const Eigen::Vector3d &v)
	skew generate the skew symmetric matrix of v
static Eigen::Matrix4d	MatExp (const Eigen::Matrix4d &A, const int &order=4)
	mat_exp Calculation of the matrix exponential, Taylor series cut-off at specified order
static Eigen::Matrix4d	OmegaMat (const Eigen::Vector3d &v)
	omega_mat ight multiplication
static Eigen::Quaterniond	QuatFromSmallAngle (const Eigen::Vector3d &d_theta_vec)
	QuatFromSmallAngle.
static Eigen::Quaterniond	ApplySmallAngleQuatCorr (const Eigen::Quaterniond &q_prior, const Eigen::Vector3d &correction)
	ApplySmallAngleQuatCorr.
static Eigen::Vector3d	RPYFromRotMat (const Eigen::Matrix3d &rot_mat)
	RPYFromRotMat derives the roll pitch and yaw angle from a rotation matrix (in that order)
static bool	CheckCov (const Eigen::MatrixXd &cov_mat, const std::string &description, const bool &check_cond=false)
	check_cov Performs tests for the properties of a given covariance matrix
static Eigen::MatrixXd	EnforceMatrixSymmetry (const Eigen::Ref< const Eigen::MatrixXd > &mat_in)
	EnforceMatrixSymmetry.
static Eigen::Quaterniond	quaternionAverage (const std::vector< Eigen::Quaterniond > &quats)
	quaternionAverage without weights
template<typename T , typename A >
static std::vector< T >	VecExtractEveryNthElm (std::vector< T, A > const &data, const int &nth)
	VecExtractEveryNthElm Takes a vector and returns a new vector which only contains every n'th element.
static Eigen::Quaterniond	NormalizeQuaternion (const Eigen::Quaterniond &quat, std::string note="")
static Eigen::Quaterniond	NormalizeQuaternion (const double &w, const double &x, const double &y, const double &z, std::string note="")

Constructor & Destructor Documentation

Utils()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::Utils::Utils

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Member Function Documentation

get_mars_version_string()

static std::string mars::Utils::get_mars_version_string ( )

static

get_mars_version_string

Returns

String wit MaRS version and git commit hash

PrintMarsVersion()

static void mars::Utils::PrintMarsVersion ( )

static

PrintMarsVersion.

TransformImu() [1/2]

static void mars::Utils::TransformImu ( const mars::IMUMeasurementType &  prev, const mars::IMUMeasurementType &  now, const double &  dt, const Eigen::Vector3d &  p_ab, const Eigen::Quaterniond &  q_ab, mars::IMUMeasurementType &  result  )

static

TransformImu Transform IMU measurements from current frame A to frame B.

This function takes angular accleration into account and thus needs the previous IMU measurement and dt

Parameters

prev	Previos IMU measurement expressed in frame A
now	Current IMU measurement expressed in frame A
dt	Delta time between both IMU measurements
p_ab	Transformation of frame B w.r.t. frame A
q_ab	Rotation of frame B w.r.t. frame A
result	Transformed current IMU measurement expressed in frame B

TransformImu() [2/2]

static void mars::Utils::TransformImu ( const mars::IMUMeasurementType &  now, const Eigen::Vector3d &  p_ab, const Eigen::Quaterniond &  q_ab, mars::IMUMeasurementType &  result  )

static

TransformImu Transform IMU measurements from current frame A to frame B.

This function does not take the angular accleration into account and thus does not need the previous IMU measurement and dt

Parameters

now	Current IMU measurement expressed in frame A
p_ab	Transformation of frame B w.r.t. frame A
q_ab	Rotation of frame B w.r.t. frame A
result	Transformed current IMU measurement expressed in frame B

Skew()

static Eigen::Matrix3d mars::Utils::Skew ( const Eigen::Vector3d &  v )

static

skew generate the skew symmetric matrix of v

Parameters

v

3d vector

Returns

skew symmetric matrix

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MatExp()

static Eigen::Matrix4d mars::Utils::MatExp ( const Eigen::Matrix4d &  A, const int &  order = 4  )

static

mat_exp Calculation of the matrix exponential, Taylor series cut-off at specified order

Parameters

A	Matrix for Taylor series
order	Order at wich the series is cut-off

Returns

OmegaMat()

static Eigen::Matrix4d mars::Utils::OmegaMat ( const Eigen::Vector3d &  v )

static

omega_mat ight multiplication

Parameters

v

Returns

Note

Reference: Joan Sola - Quaternion Kinematics for the error-state kalman filter - Equation(199)

QuatFromSmallAngle()

static Eigen::Quaterniond mars::Utils::QuatFromSmallAngle ( const Eigen::Vector3d &  d_theta_vec )

static

QuatFromSmallAngle.

Parameters

d_theta_vec

angle for the generation of the quaternion

Returns

Resulting quaternion

ApplySmallAngleQuatCorr()

static Eigen::Quaterniond mars::Utils::ApplySmallAngleQuatCorr ( const Eigen::Quaterniond &  q_prior, const Eigen::Vector3d &  correction  )

static

ApplySmallAngleQuatCorr.

Parameters

q_prior
correction

Returns

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RPYFromRotMat()

static Eigen::Vector3d mars::Utils::RPYFromRotMat ( const Eigen::Matrix3d &  rot_mat )

static

RPYFromRotMat derives the roll pitch and yaw angle from a rotation matrix (in that order)

Parameters

rot_mat

3x3 rotation matrix

Returns

Vector with [roll, pitch, yaw]

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CheckCov()

static bool mars::Utils::CheckCov ( const Eigen::MatrixXd &  cov_mat, const std::string &  description, const bool &  check_cond = false  )

static

check_cov Performs tests for the properties of a given covariance matrix

Parameters

cov_mat
description	Used to associate the warning with the given covariance
check_cond	Check the condition number of the covariance matrix

Returns

true if the covariance matrix is valid, false otherwise

EnforceMatrixSymmetry()

static Eigen::MatrixXd mars::Utils::EnforceMatrixSymmetry ( const Eigen::Ref< const Eigen::MatrixXd > &  mat_in )

static

EnforceMatrixSymmetry.

Parameters

mat_in

Returns

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quaternionAverage()

static Eigen::Quaterniond mars::Utils::quaternionAverage ( const std::vector< Eigen::Quaterniond > &  quats )

static

quaternionAverage without weights

Parameters

quats

vector of quaternion being averaged

Returns

Eigen::Quaterniond averaged quaternion

Note

Reference: Markley et al., Averaging Quaternions, Journal of Guidance, Control, and Dynamics, 30(4):1193-1196, June 2007

VecExtractEveryNthElm()

template<typename T , typename A >

static std::vector< T > mars::Utils::VecExtractEveryNthElm ( std::vector< T, A > const &  data, const int &  nth  )

inlinestatic

VecExtractEveryNthElm Takes a vector and returns a new vector which only contains every n'th element.

Parameters

data	Vector with a number of entries
nth	Defines the reduction of entries to only every n'th

Returns

Vector with reduced entries

  {
    std::vector<T> every_nth_data;
    const int len = data.size();
 
    for (int k = 0; k < len - nth; k += nth)
    {
      every_nth_data.push_back(data[k]);
    }
    return every_nth_data;
  }

NormalizeQuaternion() [1/2]

static Eigen::Quaterniond mars::Utils::NormalizeQuaternion ( const Eigen::Quaterniond &  quat, std::string  note = ""  )

static

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NormalizeQuaternion() [2/2]

static Eigen::Quaterniond mars::Utils::NormalizeQuaternion ( const double &  w, const double &  x, const double &  y, const double &  z, std::string  note = ""  )

static

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

• utils.h