 |
WarpTwin
Documentation for WarpTwin models and classes.
|
|
WarpTwin
Documentation for WarpTwin models and classes.
|
#include <MagUpdate.h>
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::Time > | time_diff_stale_bound = clockwerk::DataIO<clockwerk::Time>(this, "time_diff_stale_bound", clockwerk::Time(5, 0)) |
| clockwerk::DataIO< clockwerk::CartesianVector< 3 > > | mag_meas_noise = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "mag_meas_noise", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0})) |
| clockwerk::DataIO< clockwerk::Quaternion > | quat_MAG_B = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_MAG_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. | |
|
inline |
| clockwerk::DataIO<clockwerk::CartesianVector<3> > warpos::MagUpdate::Params::mag_meas_noise = clockwerk::DataIO<clockwerk::CartesianVector<3>>(this, "mag_meas_noise", clockwerk::CartesianVector<3>({0.0, 0.0, 0.0})) |
The magnetometer measurement noise standard deviation. See the mag field vector 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. (nT)
| clockwerk::DataIO<clockwerk::Quaternion> warpos::MagUpdate::Params::quat_MAG_B = clockwerk::DataIO<clockwerk::Quaternion>(this, "quat_MAG_B", clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0})) |
The attitude of the MAG (MAG) frame with respect to the body (B) frame as provided as a unit quaternion. Rotation from body frame to MAG frame. (unitless)
| clockwerk::DataIO<clockwerk::Time> warpos::MagUpdate::Params::time_diff_stale_bound = clockwerk::DataIO<clockwerk::Time>(this, "time_diff_stale_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. The EKF will not incorporate a measurement that is too stale. Defaults to 5 (seconds).
1.16.1