warpos::GPSUpdate::Inputs Struct Reference

#include <GPSUpdate.h>

Inheritance diagram for warpos::GPSUpdate::Inputs:

Public Member Functions
	Inputs (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> ())
clockwerk::DataIO< clockwerk::Time >	state_input_time_stamp = clockwerk::DataIO<clockwerk::Time>(this, "state_input_time_stamp", clockwerk::Time(0, 0))
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	GPS_meas_vec__ECEF = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "GPS_meas_vec__ECEF", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))
clockwerk::DataIO< clockwerk::Time >	GPS_meas_time_stamp = clockwerk::DataIO<clockwerk::Time>(this, "GPS_meas_time_stamp", clockwerk::Time(0, 0))
clockwerk::DataIO< bool >	GPS_meas_validity_flag = clockwerk::DataIO<bool>(this, "GPS_meas_validity_flag", false)
clockwerk::DataIO< clockwerk::Quaternion >	quat_pI_REF = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_pI_REF", 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

Inputs()

warpos::GPSUpdate::Inputs::Inputs ( clockwerk::GraphTreeObject * par, const char * nme )

inline

Member Data Documentation

accelBias_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::GPSUpdate::Inputs::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 MAG measurement. (meters/seconds^2)

GPS_meas_time_stamp

clockwerk::DataIO<clockwerk::Time> warpos::GPSUpdate::Inputs::GPS_meas_time_stamp = clockwerk::DataIO<clockwerk::Time>(this, "GPS_meas_time_stamp", clockwerk::Time(0, 0))

Time stamp of the incoming measurement. The time does not need to be measured relative to anything specific as long as all time stamps are measured relative to the same epoch, e.g. mission start, J2000, MJD. (seconds)

GPS_meas_validity_flag

clockwerk::DataIO<bool> warpos::GPSUpdate::Inputs::GPS_meas_validity_flag = clockwerk::DataIO<bool>(this, "GPS_meas_validity_flag", false)

Boolean flag denoting the validity of the incoming GPS measurement, comes from A&R checks in the GPS SOP. If the sensor reports a faulty measurement, the boolean should be false (bad measurement). If sensor reports an accurate measurement, the boolean should be true (good measurement).

GPS_meas_vec__ECEF

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::GPSUpdate::Inputs::GPS_meas_vec__ECEF = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "GPS_meas_vec__ECEF", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0}))

The biased GPS measurement provided as a position of the GPS receiver with respect to some reference frame resolved in that reference (REF) frame. This value should be a direct output of the GPS. (meters)

gyroBias_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::GPSUpdate::Inputs::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 repsect to the angular velocity of the pseudo-inertial (pI) frame as provided in pseudo-inertial (pI) frame coordiantes. This value is part of the inertial navigation state vector and should somewhat align with the time of the incomming MAG measurement. (radians/second)

pos_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::GPSUpdate::Inputs::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 should somewhat align with the time of the incoming MAG measurement. (meters)

quat_B_pI

clockwerk::DataIO<clockwerk::Quaternion> warpos::GPSUpdate::Inputs::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 MAG measurement. (unitless)

quat_pI_REF

clockwerk::DataIO<clockwerk::Quaternion> warpos::GPSUpdate::Inputs::quat_pI_REF = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_pI_REF", clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))

The attitude of the pseudo-inertial (pI) frame with respect to the GPS measurement (REF) frame as provided as a unit quaternion. Rotation from measurement frame to pseudo-inertial frame. (unitless)

state_cov

clockwerk::DataIO<clockwerk::Matrix<16, 16> > warpos::GPSUpdate::Inputs::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.

state_input_time_stamp

clockwerk::DataIO<clockwerk::Time> warpos::GPSUpdate::Inputs::state_input_time_stamp = clockwerk::DataIO<clockwerk::Time>(this, "state_input_time_stamp", clockwerk::Time(0, 0))

Time stamp of the input state. The time does not need to be measured relative to anything specific as long as all time stamps are measured relative to the same epoch, e.g. mission start, J2000, MJD. (seconds)

vel_B_pI__pI

clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::GPSUpdate::Inputs::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 MAG measurement. (meters/second)

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

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