mars::VisionMeasurementType Class Reference

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

Inheritance diagram for mars::VisionMeasurementType:

Collaboration diagram for mars::VisionMeasurementType:

Public Member Functions
	VisionMeasurementType ()=default
	VisionMeasurementType (Eigen::Vector3d position, const Eigen::Quaternion< double > &orientation)
std::string	to_csv_string (const double &timestamp) const
Public Member Functions inherited from mars::BaseMeas
bool	get_meas_noise (Eigen::MatrixXd *meas_noise)
	get the measurement noise associated with the current sensor measurement
void	set_meas_noise (const Eigen::MatrixXd &meas_noise)
Public Member Functions inherited from mars::MeasInterface
virtual	~MeasInterface ()=default

Static Public Member Functions
static std::string	get_csv_state_header_string ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	position_
	Position [x y z].
Eigen::Quaternion< double >	orientation_
	Quaternion [w x y z].
Public Attributes inherited from mars::BaseMeas
Eigen::MatrixXd	meas_noise_
bool	has_meas_noise { false }

Constructor & Destructor Documentation

VisionMeasurementType() [1/2]

mars::VisionMeasurementType::VisionMeasurementType ( )

default

VisionMeasurementType() [2/2]

mars::VisionMeasurementType::VisionMeasurementType ( Eigen::Vector3d  position, const Eigen::Quaternion< double > &  orientation  )

inline

    : position_(std::move(position)), orientation_(orientation)
  {
  }

Member Function Documentation

get_csv_state_header_string()

static std::string mars::VisionMeasurementType::get_csv_state_header_string ( )

inlinestatic

  {
    std::stringstream os;
    os << "t, ";
    os << "p_x, p_y, p_z, ";
    os << "q_w, q_x, q_y, q_z";
 
    return os.str();
  }

to_csv_string()

std::string mars::VisionMeasurementType::to_csv_string ( const double &  timestamp ) const

inline

  {
    std::stringstream os;
    os.precision(17);
    os << timestamp;
 
    os << ", " << position_.x() << ", " << position_.y() << ", " << position_.z();
    os << ", " << orientation_.w() << ", " << orientation_.x() << ", " << orientation_.y() << ", " << orientation_.z();
 
    return os.str();
  }

Member Data Documentation

position_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::VisionMeasurementType::position_

Position [x y z].

orientation_

Eigen::Quaternion<double> mars::VisionMeasurementType::orientation_

Quaternion [w x y z].

---

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

• vision_measurement_type.h