auterion::GlobalPositionMeasurement Class Reference

Global position measurement class with a horizontal position (latitude and longitude), vertical position (altitude AMSL) or both. More...

#include <auterion_sdk/navigation/global_navigation.hpp>

Public Member Functions
	GlobalPositionMeasurement (const rclcpp::Time &measurement_time)
GlobalPositionMeasurement &	withPosition (const double latitude, const double longitude, const float horizontal_variance=DEFAULT_POSITION_VARIANCE)
	Set the measured horizontal position.
GlobalPositionMeasurement &	withAltitude (const float altitude_amsl, const float vertical_variance=DEFAULT_POSITION_VARIANCE)
	Set the measured altitude.

Static Public Attributes
static constexpr float	DEFAULT_POSITION_VARIANCE = 0.81

Friends
class	GlobalNavigationInterfaceImpl

Detailed Description

Global position measurement class with a horizontal position (latitude and longitude), vertical position (altitude AMSL) or both.

Member Function Documentation

withAltitude()

GlobalPositionMeasurement & auterion::GlobalPositionMeasurement::withAltitude	(	const float	altitude_amsl,
		const float	vertical_variance = DEFAULT_POSITION_VARIANCE
	)

Set the measured altitude.

Parameters

altitude_amsl	measured altitude above mean sea level [m]
vertical_variance	vertical position variance [m^2]

withPosition()

GlobalPositionMeasurement & auterion::GlobalPositionMeasurement::withPosition	(	const double	latitude,
		const double	longitude,
		const float	horizontal_variance = DEFAULT_POSITION_VARIANCE
	)

Set the measured horizontal position.

Parameters

latitude	measured latitude [°]
longitude	measured longitude [°]
horizontal_variance	horizontal position variance [m^2]

Member Data Documentation

DEFAULT_POSITION_VARIANCE

constexpr float auterion::GlobalPositionMeasurement::DEFAULT_POSITION_VARIANCE = 0.81

staticconstexpr

Default variance for the horizontal and vertical position measurements [m^2]

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

• include/auterion_sdk/navigation/global_navigation.hpp