auterion::LocalPositionAssessor Class Reference

Class for assessing various properties of LocalPosition objects. More...

#include <auterion_sdk/system_state/local_position_assessor.hpp>

Public Member Functions
	LocalPositionAssessor (const SystemState &system_state, const LocalPositionAssessorConfig &config=LocalPositionAssessorConfig{})
	Constructor for LocalPositionAssessor. More...
	~LocalPositionAssessor ()=default
	Destructor for LocalPositionAssessor.
bool	isPositionWithinThreshold (const Eigen::Vector3f &target_local_position_m, const std::optional< float > position_error_threshold_m=std::nullopt) const
	Check if the current position is within specified thresholds of the target location. More...
bool	isVelocityUnderThreshold (const std::optional< float > absolute_velocity_threshold_m_s=std::nullopt) const
	Check if the current velocity is under the specified threshold. More...
bool	isAccelerationUnderThreshold (const std::optional< float > absolute_acceleration_threshold_m_s2=std::nullopt) const
	Check if the current acceleration is under the specified threshold. More...
bool	isHeadingWithinThreshold (const float target_heading_enu_rad, const std::optional< float > heading_error_threshold_rad=std::nullopt) const
	Check if the current heading is within specified thresholds of the target heading. More...

Detailed Description

Class for assessing various properties of LocalPosition objects.

See also

auterion::LocalPosition

Constructor & Destructor Documentation

LocalPositionAssessor()

auterion::LocalPositionAssessor::LocalPositionAssessor ( const SystemState &  system_state, const LocalPositionAssessorConfig &  config = LocalPositionAssessorConfig{}  )

explicit

Constructor for LocalPositionAssessor.

Parameters

system_state	Reference to the SystemState instance.
config	Configuration for the LocalPositionAssessor, defines default acceptance criteria (optional).

Member Function Documentation

isAccelerationUnderThreshold()

bool auterion::LocalPositionAssessor::isAccelerationUnderThreshold

(

const std::optional< float >

absolute_acceleration_threshold_m_s2 = std::nullopt

)

const

Check if the current acceleration is under the specified threshold.

Parameters

absolute_acceleration_threshold_m_s2

Absolute acceleration threshold [m/s^2] (optional).

Returns

True if the acceleration is under the threshold, false otherwise.

isHeadingWithinThreshold()

bool auterion::LocalPositionAssessor::isHeadingWithinThreshold	(	const float	target_heading_enu_rad,
		const std::optional< float >	heading_error_threshold_rad = std::nullopt
	)		const

Check if the current heading is within specified thresholds of the target heading.

Parameters

target_heading_enu_rad	Target heading [rad].
heading_error_threshold_rad	Heading error threshold [rad] (optional).

Returns

True if the heading is within threshold, false otherwise.

isPositionWithinThreshold()

bool auterion::LocalPositionAssessor::isPositionWithinThreshold	(	const Eigen::Vector3f &	target_local_position_m,
		const std::optional< float >	position_error_threshold_m = std::nullopt
	)		const

Check if the current position is within specified thresholds of the target location.

Parameters

target_local_position_m	Target local position [m].
position_error_threshold_m	Position error threshold [m] (optional).

Returns

True if the position is within threshold, false otherwise.

isVelocityUnderThreshold()

bool auterion::LocalPositionAssessor::isVelocityUnderThreshold

(

const std::optional< float >

absolute_velocity_threshold_m_s = std::nullopt

)

const

Check if the current velocity is under the specified threshold.

Parameters

absolute_velocity_threshold_m_s

Absolute velocity threshold [m/s] (optional).

Returns

True if the velocity is under the threshold, false otherwise.

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

• include/auterion_sdk/system_state/local_position_assessor.hpp