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Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | List of all members
Boardcore::PropagatorState Struct Reference

State of the propagator, taking into account the prediction steps (0 if true NAS state) and the propagated NAS. More...

#include <PropagatorData.h>

Collaboration diagram for Boardcore::PropagatorState:
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Public Member Functions

 PropagatorState ()
 
 PropagatorState (uint64_t timestamp, uint32_t nPropagations, NASState nasState)
 
void print (std::ostream &os) const
 
NASState getNasState () const
 
Eigen::Vector3f getPosition ()
 Getter for the vector of positions NED.
 
void setPosition (Eigen::Vector3f xProp)
 Setter for the vector of positions NED.
 
Eigen::Vector3f getVelocity ()
 Getter for the vector of velocities NED.
 
void setVelocity (Eigen::Vector3f vProp)
 Setter for the vector of velocities NED.
 
void setZAcceleration (Eigen::Vector3f acc)
 Setter for the vector acceleration(only z-axis)
 
Eigen::Vector3f getAcceleration () const
 Getter for the vector acceleration.
 
Eigen::Vector4f getQProp ()
 Getter for the vector of quaternions.
 
void setQProp (Eigen::Vector4f qProp)
 Setter for the vector of quaternions.
 
Eigen::Vector3f getBProp ()
 Getter for the vector of quaternions' bias.
 
void setBProp (Eigen::Vector3f bProp)
 Setter for the vector of quaternions' bias.
 

Static Public Member Functions

static std::string header ()
 

Public Attributes

uint64_t timestamp
 Prediction timestamp (ARP timestamp) [ms].
 
uint32_t nPropagations
 Predictions from last received NAS state.
 
NASState nas
 
float az = 0
 

Static Public Attributes

static constexpr float ax = 0
 
static constexpr float ay = 0
 only az is used by the propagator
 

Detailed Description

State of the propagator, taking into account the prediction steps (0 if true NAS state) and the propagated NAS.

Note
Can be logged.

Definition at line 39 of file PropagatorData.h.

Constructor & Destructor Documentation

◆ PropagatorState() [1/2]

Boardcore::PropagatorState::PropagatorState ( )
inline

Definition at line 48 of file PropagatorData.h.

◆ PropagatorState() [2/2]

Boardcore::PropagatorState::PropagatorState ( uint64_t timestamp,
uint32_t nPropagations,
NASState nasState )
inline

Definition at line 50 of file PropagatorData.h.

Member Function Documentation

◆ getAcceleration()

Eigen::Vector3f Boardcore::PropagatorState::getAcceleration ( ) const
inline

Getter for the vector acceleration.

Returns
Eigen::Vector3f acceleration

Definition at line 123 of file PropagatorData.h.

◆ getBProp()

Eigen::Vector3f Boardcore::PropagatorState::getBProp ( )
inline

Getter for the vector of quaternions' bias.

Returns
Eigen::Vector3f the quaternions' bias vector

Definition at line 158 of file PropagatorData.h.

◆ getNasState()

NASState Boardcore::PropagatorState::getNasState ( ) const
inline

Definition at line 71 of file PropagatorData.h.

◆ getPosition()

Eigen::Vector3f Boardcore::PropagatorState::getPosition ( )
inline

Getter for the vector of positions NED.

Returns
Eigen::Vector3f the NED position vector

Definition at line 78 of file PropagatorData.h.

◆ getQProp()

Eigen::Vector4f Boardcore::PropagatorState::getQProp ( )
inline

Getter for the vector of quaternions.

Returns
Eigen::Vector3f the quaternions vector

Definition at line 137 of file PropagatorData.h.

◆ getVelocity()

Eigen::Vector3f Boardcore::PropagatorState::getVelocity ( )
inline

Getter for the vector of velocities NED.

Returns
Eigen::Vector3f the NED velocities vector

Definition at line 98 of file PropagatorData.h.

◆ header()

static std::string Boardcore::PropagatorState::header ( )
inlinestatic

Definition at line 56 of file PropagatorData.h.

◆ print()

void Boardcore::PropagatorState::print ( std::ostream & os) const
inline

Definition at line 62 of file PropagatorData.h.

◆ setBProp()

void Boardcore::PropagatorState::setBProp ( Eigen::Vector3f bProp)
inline

Setter for the vector of quaternions' bias.

Definition at line 163 of file PropagatorData.h.

◆ setPosition()

void Boardcore::PropagatorState::setPosition ( Eigen::Vector3f xProp)
inline

Setter for the vector of positions NED.

Definition at line 86 of file PropagatorData.h.

◆ setQProp()

void Boardcore::PropagatorState::setQProp ( Eigen::Vector4f qProp)
inline

Setter for the vector of quaternions.

Definition at line 145 of file PropagatorData.h.

◆ setVelocity()

void Boardcore::PropagatorState::setVelocity ( Eigen::Vector3f vProp)
inline

Setter for the vector of velocities NED.

Definition at line 106 of file PropagatorData.h.

◆ setZAcceleration()

void Boardcore::PropagatorState::setZAcceleration ( Eigen::Vector3f acc)
inline

Setter for the vector acceleration(only z-axis)

Definition at line 116 of file PropagatorData.h.

Member Data Documentation

◆ ax

constexpr float Boardcore::PropagatorState::ax = 0
staticconstexpr

Definition at line 46 of file PropagatorData.h.

◆ ay

constexpr float Boardcore::PropagatorState::ay = 0
static

only az is used by the propagator

Definition at line 47 of file PropagatorData.h.

◆ az

float Boardcore::PropagatorState::az = 0

Definition at line 45 of file PropagatorData.h.

◆ nas

NASState Boardcore::PropagatorState::nas

Definition at line 43 of file PropagatorData.h.

◆ nPropagations

uint32_t Boardcore::PropagatorState::nPropagations

Predictions from last received NAS state.

Definition at line 42 of file PropagatorData.h.

◆ timestamp

uint64_t Boardcore::PropagatorState::timestamp

Prediction timestamp (ARP timestamp) [ms].

Definition at line 41 of file PropagatorData.h.

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