Class BufferedIns

Inheritance Relationships

Base Type

Class Documentation

class BufferedIns : public navtk::inertial::BufferedPva

Class that maintains a time history of and provides access to calculated PVAs, processed measurements and other values of interest.

Public Functions

BufferedIns(std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> pva = nullptr, double expected_dt = 1.0, double buffer_length = 60.0)

Constructor.

Parameters

  • pva – Time-tagged initial position, velocity and attitude nullptr if unknown.

  • expected_dt – The typical delta time between PVAs, in seconds.

  • buffer_length – Amount of data, in seconds, this class should keep in history. Max number of accessible buffer elements is buffer_length/expected_dt + 2.

BufferedIns(const aspn_xtensor::MeasurementPositionVelocityAttitude &pva, double expected_dt = 1.0, double buffer_length = 60.0)

Constructor.

Parameters

  • pva – Time-tagged initial position, velocity and attitude.

  • expected_dt – The typical delta time between PVAs, in seconds.

  • buffer_length – Amount of data, in seconds, this class should keep in history. Max number of accessible buffer elements is buffer_length/expected_dt + 2.

void add_pva(not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva)

Adds a PVA to the buffer.

Parameters

pva – Time-tagged position, velocity and attitude to be added to the buffer.

void add_pva(const aspn_xtensor::MeasurementPositionVelocityAttitude &pva)

Adds a PVA to the buffer.

Parameters

pva – Time-tagged position, velocity and attitude to be added to the buffer.

virtual void add_data(not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data) override

Adds a PVA to the buffer.

Parameters

data – Time-tagged position, velocity and attitude to be added to the buffer. Must be of type aspn_xtensor::MeasurementPositionVelocityAttitude.

Throws

If – error mode is DIE and data is a type other than aspn_xtensor::MeasurementPositionVelocityAttitude.