#include <DeadReckon.h>

Inheritance diagram for warpos::DeadReckon::Outputs:

Public Member Functions
	Outputs (clockwerk::GraphTreeObject par, const char nme)
Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default.
virtual	~GraphTreeObject ()
	Destructor.
GraphTreeObject *	parent ()
	Functions to get object's parent/children.
GraphTreeObject **	children ()
GraphTreeObject *	childAtIndex (uint8 i) const
int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.
int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.
uint8	nChildren () const
	Getters for number of children and descendants.
uint16	nDescendants () const
uint8	capacity () const
const char *	name () const
	Getter and setter for object name.
int16	name (const char *new_name)
uint8	rank ()
	Getter for the object rank.
int8	type ()
	Function to indicate type – -1 by default unless implemented downstream.
bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree.
virtual int16	str (char *output, size_t size) const
	Get object represented as string.
virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string.

Public Attributes
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	pos_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "pos_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	vel_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "vel_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::Quaternion >	quat_B_pI = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_B_pI", clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	gyroBias_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "gyroBias_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	accelBias_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "accelBias_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::Matrix< 16, 16 > >	state_cov = clockwerk::DataIO<clockwerk::Matrix<16, 16>>(this, "state_cov", clockwerk::Matrix<16, 16> ())

Additional Inherited Members
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address.
void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.
void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.
int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing.
int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr
GraphTreeObject **	_children_ptr = nullptr
uint32	_max_num_children = 0
uint16	_num_descendants = 0
char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object.
uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself).
uint8	_rank = 0
int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.
bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.
uint32	_index = 0
	Index pointing to the next write location for the graph tree children.

Constructor & Destructor Documentation

◆ Outputs()

warpos::DeadReckon::Outputs::Outputs	(	clockwerk::GraphTreeObject *	par,
		const char *	nme )

inline

Member Data Documentation

◆ accelBias_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::DeadReckon::Outputs::accelBias_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "accelBias_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))

The accelerometer bias provided as an acceleration of the body (B) frame with respect to the acceleration of the pseudo-inertial (pI) frame as provided in pseudo-inertial (pI) frame coordinates. This value is part of the inertial navigation state vector that and should somewhat with the time of the incoming IMU measurement. (meters/seconds^2)

◆ gyroBias_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::DeadReckon::Outputs::gyroBias_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "gyroBias_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))

The gyrocsope bias provided as an angular velocity of the body (B) frame with respect to the angular velocity of the pseudo-inertial (pI) frame as provided in pseudo-inertial (pI) frame coordinates. This value is part of the inertial navigation state vector and should somewhat align with the time of the incoming IMU measurement - time_in. (radians/second)

◆ pos_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::DeadReckon::Outputs::pos_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "pos_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))

The position of the body (B) with respect to the pseudo-inertial (pI) frame as provided in pseudo-inertial (pI) frame coordinates. This value is part of the inertial navigation state vector and is aligned with the time of output - time_in. (meters)

◆ quat_B_pI

clockwerk::DataIO<clockwerk::Quaternion> warpos::DeadReckon::Outputs::quat_B_pI = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_B_pI", clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))

The attitude of the body (B) frame with respect to the pseudo-inertial (pI) frame as provided as a unit quaternion. This value is part of the inertial navigation state vector and should somewhat align with the time of the incoming IMU measurement. (unitless)

◆ state_cov

clockwerk::DataIO<clockwerk::Matrix<16, 16> > warpos::DeadReckon::Outputs::state_cov = clockwerk::DataIO<clockwerk::Matrix<16, 16>>(this, "state_cov", clockwerk::Matrix<16, 16> ())

The covariance matrix of the state vector. The covariances of the state random variable are defined diagonally in the order of [pos, vel, quat, gyroBias, accelBias] and are in the same units, frames, and relativistic states as the state vector definitions.

◆ vel_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::DeadReckon::Outputs::vel_B_pI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "vel_B_pI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))

The velocity of the body (B) with respect to the pseudo-inertial (pI) frame as provided in pseudo-inertial (pI) frame coordinates. This value is part of the inertial navigation state vector and should somewhat align with the time of the incoming IMU measurement. (meters/second)

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

/Users/mickey/Documents/Projects/warptwin/warpos/src/apps/gnc/InertialNavigationEKF/DeadReckon.h

Public Member Functions

Public Attributes

Additional Inherited Members