#include <DeadReckon.h>

Inheritance diagram for warpos::DeadReckon::Params:

Public Member Functions
	Params (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_pI_tI__pI = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "pos_pI_tI__pI", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::Time >	time_diff_warning_bound = clockwerk::DataIO<clockwerk::Time>(this, "time_diff_warning_bound", clockwerk::Time(5, 0))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	velocity_standard_deviation = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "velocity_standard_deviation", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 4 > >	attitude_standard_deviation = clockwerk::DataIO<clockwerk::CartesianVector<4>>(this, "attitude_standard_deviation", clockwerk::CartesianVector<4>({0.0, 0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	gyroBias_standard_deviation = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "gyroBias_standard_deviation", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	accelBias_standard_deviation = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "accelBias_standard_deviation", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	pos_IMU_B__B = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "pos_IMU_B__B", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::Quaternion >	quat_IMU_B = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_IMU_B", clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))

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

◆ Params()

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

inline

Member Data Documentation

◆ accelBias_standard_deviation

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

The accelerometer measurement bias component of state vector process noise standard deviation. See the accelerometer measurement bias component definition in (inputs/outputs) to understand the frame of reference and relative state. The process noise standard deviation is set on system start-up, but can be changed via a command during any part of operation. (sqrt(Hertz))

◆ attitude_standard_deviation

clockwerk::DataIO<clockwerk::CartesianVector<4> > warpos::DeadReckon::Params::attitude_standard_deviation = clockwerk::DataIO<clockwerk::CartesianVector<4>>(this, "attitude_standard_deviation", clockwerk::CartesianVector<4>({0.0, 0.0, 0.0, 0.0}))

The attitude component of state vector process noise standard deviation. See the attitude component definition in (inputs/outputs) to understand the frame of reference and relative state. The process noise standard deviation is set on system start-up, but can be changed via a command during any part of operation. (sqrt(Hertz))

◆ gyroBias_standard_deviation

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

The gyroscope measurement bias component of state vector process noise standard deviation. See the gyroscope measurement bias component definition in (inputs/outputs) to understand the frame of reference and relative state. The process noise standard deviation is set on system start-up, but can be changed via a command during any part of operation. (sqrt(Hertz))

◆ pos_IMU_B__B

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

The position of the IMU (IMU) frame with respect to the body (B) frame as provided in the body (B) frame coordinates. It should be noted that the body frame is assumed to have its origin coinciding with the object center of gravity. (meters)

◆ pos_pI_tI__pI

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

The position of the pseudo-inertial (pI) frame with respect to the true inertial (tI) frame as provided in pseudo-inertial (pI) frame coordinates. Defaults to zero because this is the usual case, e.g. using ECEF or ECI. The true inertial frame origin is defined to be where the primary bodies gravitational potential singularity exists. (meters)

◆ quat_IMU_B

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

The attitude of the IMU (IMU) frame with respect to the body (B) frame as provided as a unit quaternion. Rotation from body frame to IMU frame. (unitless)

◆ time_diff_warning_bound

clockwerk::DataIO<clockwerk::Time> warpos::DeadReckon::Params::time_diff_warning_bound = clockwerk::DataIO<clockwerk::Time>(this, "time_diff_warning_bound", clockwerk::Time(5, 0))

The maximum time difference that is allowed between the input state time stamp (t_{k}) and the measurement time stamp as well as the maximum time difference between the output state time stamp and the measurement time stamp. This effectively limits the maximum difference between the input and output times to be twice the param value. The EKF will still propagate the state, but the error may be significant and a warning will be thrown. Defaults to 5 (seconds).

◆ velocity_standard_deviation

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

The velocity component of state vector process noise standard deviation. See the velocity component definition in (inputs/outputs) to understand the frame of reference and relative state. The process noise standard deviation is set on system start-up, but can be changed via a command during any part of operation. (sqrt(Hertz))

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