Formula Student Autonomous Systems
The code for the main driverless system
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Public Member Functions | Private Attributes | List of all members
GnssSensor Class Reference

#include <gnssSensor.hpp>

Inheritance diagram for GnssSensor:
Inheritance graph
Collaboration diagram for GnssSensor:
Collaboration graph

Public Member Functions

 GnssSensor ()
 
void readConfig (ConfigElement &config)
 
std::string getName ()
 
std::string getFrameId ()
 
bool RunTick (Eigen::Vector3d &gnssOrigin, Eigen::Vector3d &enuToTrackRotation, Eigen::Vector3d &trans, Eigen::Vector3d &rot, double time, Eigen::Vector3d velocity, Eigen::Vector3d omega, Eigen::Vector3d start_position, Eigen::Vector3d start_orientation, bool trackPreTransformed)
 
- Public Member Functions inherited from SensorBase< GnssData >
double getRate ()
 
GnssData getOldest ()
 
bool availableDeadTime (double time)
 
bool sampleReady (double time)
 
void registerSampling ()
 
Eigen::Vector3d getPosition ()
 
Eigen::Vector3d getOrientation ()
 

Private Attributes

std::string name
 
std::string frame_id
 
int noiseSeed
 
Eigen::Vector3d errorSigmaPosition
 
Eigen::Vector3d errorMeanPosition
 
Eigen::Vector3d errorSigmaVelocity
 
Eigen::Vector3d errorMeanVelocity
 
Eigen::Vector3d errorSigmaOrientation
 
Eigen::Vector3d errorMeanOrientation
 
bool outputVelocity
 
int orientationMode
 

Additional Inherited Members

- Protected Attributes inherited from SensorBase< GnssData >
Eigen::Vector3d position
 
Eigen::Vector3d orientation
 
double rate
 
double lastSampleTime
 
double deadTime
 
std::queue< GnssData > deadTimeQueue
 
int numFrames
 

Detailed Description

Definition at line 11 of file gnssSensor.hpp.

Constructor & Destructor Documentation

◆ GnssSensor()

GnssSensor::GnssSensor ( )

Definition at line 5 of file gnssSensor.cpp.

Member Function Documentation

◆ getFrameId()

std::string GnssSensor::getFrameId ( )

Definition at line 118 of file gnssSensor.cpp.

◆ getName()

std::string GnssSensor::getName ( )

Definition at line 116 of file gnssSensor.cpp.

◆ readConfig()

void GnssSensor::readConfig ( ConfigElement &  config)

Definition at line 13 of file gnssSensor.cpp.

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◆ RunTick()

bool GnssSensor::RunTick ( Eigen::Vector3d &  gnssOrigin,
Eigen::Vector3d &  enuToTrackRotation,
Eigen::Vector3d &  trans,
Eigen::Vector3d &  rot,
double  time,
Eigen::Vector3d  velocity,
Eigen::Vector3d  omega,
Eigen::Vector3d  start_position,
Eigen::Vector3d  start_orientation,
bool  trackPreTransformed 
)

Definition at line 120 of file gnssSensor.cpp.

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Member Data Documentation

◆ errorMeanOrientation

Eigen::Vector3d GnssSensor::errorMeanOrientation
private

Definition at line 39 of file gnssSensor.hpp.

◆ errorMeanPosition

Eigen::Vector3d GnssSensor::errorMeanPosition
private

Definition at line 33 of file gnssSensor.hpp.

◆ errorMeanVelocity

Eigen::Vector3d GnssSensor::errorMeanVelocity
private

Definition at line 36 of file gnssSensor.hpp.

◆ errorSigmaOrientation

Eigen::Vector3d GnssSensor::errorSigmaOrientation
private

Definition at line 38 of file gnssSensor.hpp.

◆ errorSigmaPosition

Eigen::Vector3d GnssSensor::errorSigmaPosition
private

Definition at line 32 of file gnssSensor.hpp.

◆ errorSigmaVelocity

Eigen::Vector3d GnssSensor::errorSigmaVelocity
private

Definition at line 35 of file gnssSensor.hpp.

◆ frame_id

std::string GnssSensor::frame_id
private

Definition at line 28 of file gnssSensor.hpp.

◆ name

std::string GnssSensor::name
private

Definition at line 27 of file gnssSensor.hpp.

◆ noiseSeed

int GnssSensor::noiseSeed
private

Definition at line 30 of file gnssSensor.hpp.

◆ orientationMode

int GnssSensor::orientationMode
private

Definition at line 42 of file gnssSensor.hpp.

◆ outputVelocity

bool GnssSensor::outputVelocity
private

Definition at line 41 of file gnssSensor.hpp.

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