Sonar_sim Class Reference

Simulation for sonars. More...

#include <sonar_sim.hpp>

Inheritance diagram for Sonar_sim:

Collaboration diagram for Sonar_sim:

List of all members.

Public Member Functions
	Sonar_sim (Dynamic_model &dynamic_model, sonar_sim_conf_t config=sonar_sim_default_config())
	Constructor.
bool	init (void)
	Initialise the sensor.
bool	update (void)
	Main update function Reads new values from sensor.
const float &	last_update_us (void) const
	Get last update time in microseconds.
const std::array< float, 3 > &	orientation_bf (void) const
	Get sensor orientation relative to the platform (in body frame)
const float &	distance (void) const
	Get latest distance measure.
const float &	velocity (void) const
	Get velocity estimate from consecutive measurements.
const bool &	healthy (void) const
	Indicates whether the measurements can be trusted.

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Detailed Description

Simulation for sonars.

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Constructor & Destructor Documentation

Sonar_sim::Sonar_sim	(	Dynamic_model &	dynamic_model,
		sonar_sim_conf_t	config = sonar_sim_default_config()
	)

Constructor.

Parameters:

dynamic_model	Reference to dynamic model
config	Configuration

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Member Function Documentation

const float & Sonar_sim::distance

(

void

)

const [virtual]

Get latest distance measure.

Returns:

Value

Implements Sonar.

const bool & Sonar_sim::healthy

(

void

)

const [virtual]

Indicates whether the measurements can be trusted.

Returns:

Value

Implements Sonar.

bool Sonar_sim::init

(

void

)

[virtual]

Initialise the sensor.

Returns:

Success

Implements Sonar.

const float & Sonar_sim::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Sonar.

const std::array< float, 3 > & Sonar_sim::orientation_bf

(

void

)

const [virtual]

Get sensor orientation relative to the platform (in body frame)

Returns:

3D orientation

Implements Sonar.

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bool Sonar_sim::update

(

void

)

[virtual]

Main update function Reads new values from sensor.

Returns:

Success

H: scalar (altitude) D: scalar (measure) z: down vector ||z||=1 u: sensor vector ||u||=1

With Altitude = H.z Distance = D.u

We have D = H / (u.z)

Implements Sonar.

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const float & Sonar_sim::velocity

(

void

)

const [virtual]

Get velocity estimate from consecutive measurements.

Returns:

Value

Implements Sonar.

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

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