auterion::LocalPositionMeasurement Class Reference

Local position measurement class with any combination of position (ENU frame), velocity (ENU frame), and attitude. More...

#include <auterion_sdk/navigation/local_navigation.hpp>

Public Member Functions
	LocalPositionMeasurement (const rclcpp::Time &measurement_time)
LocalPositionMeasurement &	withPosition (const Eigen::Vector3f &position, const Eigen::Vector3f &position_variance=Eigen::Vector3f::Constant(DEFAULT_POSITION_VARIANCE))
	Set the measured position in ENU frame. More...
LocalPositionMeasurement &	withPositionHorizontal (const Eigen::Vector2f &position_xy, const Eigen::Vector2f &position_xy_variance=Eigen::Vector2f::Constant(DEFAULT_POSITION_VARIANCE))
	Set the measured horizontal position in ENU frame. More...
LocalPositionMeasurement &	withPositionVertical (const float position_z, const float position_z_variance=DEFAULT_POSITION_VARIANCE)
	Set the measured vertical position in ENU frame. More...
LocalPositionMeasurement &	withVelocity (const Eigen::Vector3f &velocity, const Eigen::Vector3f &velocity_variance=Eigen::Vector3f::Constant(DEFAULT_VELOCITY_VARIANCE))
	Set the measured velocity in ENU frame. More...
LocalPositionMeasurement &	withAttitude (const Eigen::Quaternionf &attitude, const Eigen::Vector3f &attitude_variance=Eigen::Vector3f::Constant(DEFAULT_ATTITUDE_VARIANCE))
	Set the measured attitude quaternion. More...

Static Public Attributes
static constexpr float	DEFAULT_POSITION_VARIANCE
static constexpr float	DEFAULT_VELOCITY_VARIANCE
static constexpr float	DEFAULT_ATTITUDE_VARIANCE

Friends
class	LocalNavigationInterfaceImpl

Detailed Description

Local position measurement class with any combination of position (ENU frame), velocity (ENU frame), and attitude.

Member Function Documentation

withAttitude()

LocalPositionMeasurement& auterion::LocalPositionMeasurement::withAttitude	(	const Eigen::Quaternionf &	attitude,
		const Eigen::Vector3f &	attitude_variance = Eigen::Vector3f::Constant(DEFAULT_ATTITUDE_VARIANCE)
	)

Set the measured attitude quaternion.

Parameters

attitude	measured attitude quaternion (Hamiltonian convention)
attitude_variance	attitude variance [rad^2]

withPosition()

LocalPositionMeasurement& auterion::LocalPositionMeasurement::withPosition	(	const Eigen::Vector3f &	position,
		const Eigen::Vector3f &	position_variance = Eigen::Vector3f::Constant(DEFAULT_POSITION_VARIANCE)
	)

Set the measured position in ENU frame.

Parameters

position	measured 3D position [m]
position_variance	position variance [m^2]

withPositionHorizontal()

LocalPositionMeasurement& auterion::LocalPositionMeasurement::withPositionHorizontal	(	const Eigen::Vector2f &	position_xy,
		const Eigen::Vector2f &	position_xy_variance = Eigen::Vector2f::Constant(DEFAULT_POSITION_VARIANCE)
	)

Set the measured horizontal position in ENU frame.

Parameters

position_xy	measured 2D horizontal position [m]
position_xy_variance	horizontal position variance [m^2]

withPositionVertical()

LocalPositionMeasurement& auterion::LocalPositionMeasurement::withPositionVertical	(	const float	position_z,
		const float	position_z_variance = DEFAULT_POSITION_VARIANCE
	)

Set the measured vertical position in ENU frame.

Parameters

position_z	measured vertical position [m]
position_z_variance	vertical position variance [m^2]

withVelocity()

LocalPositionMeasurement& auterion::LocalPositionMeasurement::withVelocity	(	const Eigen::Vector3f &	velocity,
		const Eigen::Vector3f &	velocity_variance = Eigen::Vector3f::Constant(DEFAULT_VELOCITY_VARIANCE)
	)

Set the measured velocity in ENU frame.

Parameters

velocity	measured 3D velocity [m/s]
velocity_variance	velocity variance [(m/s)^2]

Member Data Documentation

DEFAULT_ATTITUDE_VARIANCE

constexpr float auterion::LocalPositionMeasurement::DEFAULT_ATTITUDE_VARIANCE

staticconstexpr

Initial value:

=
        0.01

Default variance in the attitude measurement [rad^2]

DEFAULT_POSITION_VARIANCE

constexpr float auterion::LocalPositionMeasurement::DEFAULT_POSITION_VARIANCE

staticconstexpr

Initial value:

=
        0.01

Default variance in the position measurement [m^2]

DEFAULT_VELOCITY_VARIANCE

constexpr float auterion::LocalPositionMeasurement::DEFAULT_VELOCITY_VARIANCE

staticconstexpr

Initial value:

=
        0.01

Default variance in the velocity measurement [(m/s)^2]

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

• include/auterion_sdk/navigation/local_navigation.hpp