INS_AHRS_groundtruth Class Reference

Inheritance diagram for INS_AHRS_groundtruth:

Collaboration diagram for INS_AHRS_groundtruth:

List of all members.

Classes
struct	conf_t
	Configuration structure. More...
Public Member Functions
	INS_AHRS_groundtruth (Dynamic_model &model, const conf_t &config=default_config())
	Constructor.
virtual bool	update (void)
	Main update function.
virtual float	last_update_s (void) const
	Last update of the internal values in seconds.
virtual local_position_t	position_lf (void) const
	3D Position in meters (NED frame)
virtual std::array< float, 3 >	velocity_lf (void) const
	Velocity in meters/seconds in NED frame.
virtual float	absolute_altitude (void) const
	Absolute altitude above sea level in meters (>=0)
virtual bool	is_healthy (INS::healthy_t type) const
	Indicates which estimate can be trusted (always returns true)
virtual bool	is_healthy (void) const
	Indicates which estimate can be trusted (always returns true)
quat_t	attitude (void) const
	Estimated attitude.
std::array< float, 3 >	angular_speed (void) const
	Estimated angular velocity.
std::array< float, 3 >	linear_acceleration (void) const
	Estimated linear acceleration.
Static Public Member Functions
static conf_t	default_config ()
	Returns the default configuration for INS_AHRS_groundtruth.
Protected Attributes
Dynamic_model &	model_
	Dynamic model providing position and velocity information.
local_position_t	position_lf_
	local position estimation (NED in meters)
std::array< float, 3 >	velocity_lf_
	local velocity estimation (NED in meters/seconds)
float	absolute_altitude_
	Absolute altitude above sea level in meters (>=0)
quat_t	attitude_
	Estimated attitude.
std::array< float, 3 >	angular_speed_
	Estimated angular speed.
std::array< float, 3 >	linear_acc_
	Estimated linear acceleration.
float	last_update_s_
	time stamp of last update in seconds

---

Member Function Documentation

virtual float INS_AHRS_groundtruth::absolute_altitude

(

void

)

const [inline, virtual]

Absolute altitude above sea level in meters (>=0)

Value is only updated upon calling update()

Returns:

altitude [meters above sea level (>0)]

Implements INS.

std::array< float, 3 > INS_AHRS_groundtruth::angular_speed

(

void

)

const [virtual]

Estimated angular velocity.

Returns:

3D angular velocity

Implements AHRS.

quat_t INS_AHRS_groundtruth::attitude

(

void

)

const [virtual]

Estimated attitude.

Returns:

quaternion

Implements AHRS.

INS_AHRS_groundtruth::conf_t INS_AHRS_groundtruth::default_config

(

void

)

[inline, static]

Returns the default configuration for INS_AHRS_groundtruth.

default origin is set to ORIGIN_EPFL

Returns:

config default configuration

virtual bool INS_AHRS_groundtruth::is_healthy

(

INS::healthy_t

type

)

const [inline, virtual]

Indicates which estimate can be trusted (always returns true)

Parameters:

type	Type of estimate

Returns:

boolean

Implements INS.

virtual bool INS_AHRS_groundtruth::is_healthy

(

void

)

const [inline, virtual]

Indicates which estimate can be trusted (always returns true)

Returns:

boolean

Implements AHRS.

float INS_AHRS_groundtruth::last_update_s

(

void

)

const [inline, virtual]

Last update of the internal values in seconds.

Value is only updated upon calling update()

Returns:

time [seconds]

Implements AHRS.

std::array< float, 3 > INS_AHRS_groundtruth::linear_acceleration

(

void

)

const [virtual]

Estimated linear acceleration.

Returns:

3D linear acceleration

Implements AHRS.

virtual local_position_t INS_AHRS_groundtruth::position_lf

(

void

)

const [inline, virtual]

3D Position in meters (NED frame)

Value is only updated upon calling update()

Returns:

position [NED in meters]

Implements INS.

bool INS_AHRS_groundtruth::update

(

void

)

[virtual]

Main update function.

Update dynamic model and internally stored values

Returns:

Success

Implements AHRS.

Here is the call graph for this function:

virtual std::array<float,3> INS_AHRS_groundtruth::velocity_lf

(

void

)

const [inline, virtual]

Velocity in meters/seconds in NED frame.

Value is only updated upon calling update()

Returns:

velocity [NED in meters/second]

Implements INS.

---

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

• /home/travis/build/lis-epfl/MAVRIC_Library/simulation/ins_ahrs_groundtruth.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/simulation/ins_ahrs_groundtruth.cpp