Class InertialPosVelAtt

Inheritance Relationships

Base Type

  • public aspn_xtensor::AspnBase

Derived Types

Class Documentation

class InertialPosVelAtt : public aspn_xtensor::AspnBase

Abstract class that provides accessors for some commonly desired position, velocity and attitude representations.

Subclassed by navtk::inertial::StandardPosVelAtt, navtk::inertial::WanderPosVelAtt

Public Functions

virtual ~InertialPosVelAtt() = default

Destructor.

virtual bool is_wander_capable() const = 0

Determines if this instance is ‘wander-capable’, meaning that it has a separate internal representation of a wander angle.

Generally, replacing a wander-capable value with one that is not will result in a loss of information.

Returns

If this instance is able to store a valid wander angle value.

virtual Vector3 get_llh() const = 0

Position as latitude, longitude and altitude.

The return value of this function may not be valid near the poles.

Returns

Vector3 composed of latitude in radians, longitude in radians, and altitude in meters HAE.

virtual Vector3 get_vned() const = 0

Velocity in the NED frame.

The return value of this function may not be valid near the poles.

Returns

Vector3 composed of velocity in the North, East and Down frame, \(\frac{m}{s}\).

virtual Matrix3 get_C_s_to_ned() const = 0

Attitude as a sensor-to-NED frame or platform-to-NED frame DCM.

(Depends on whether the mechanization is in original inertial sensor frame or the inertial measurements are first rotated to a platform frame prior to mechanization). The return value of this function may not be valid near the poles.

Returns

DCM that rotates from the frame whose PVA is described by this instance (either sensor or platform frame) to the North, East and Down frame.

virtual std::pair<Matrix3, double> get_C_n_to_e_h() const = 0

Position in wander frame format (DCM and altitude).

Returns

Pair containing the n to e frame DCM and height above ellipsoid in meters.

virtual Vector3 get_vn() const = 0

Velocity in wander n frame.

Returns

Velocity in n frame, \(\frac{m}{s}\).

virtual Matrix3 get_C_s_to_l() const = 0

Attitude as the sensor to l frame DCM.

Returns

DCM that rotates from the sensor frame to the l frame,.

virtual std::shared_ptr<InertialPosVelAtt> clone() const = 0

Return a deep copy of the instance.

Returns

Cloned InertialPosVelAtt.

Public Members

aspn_xtensor::TypeTimestamp time_validity

The time at which the PVA is considered to be valid.

Protected Functions

inline InertialPosVelAtt(const aspn_xtensor::TypeTimestamp &t = aspn_xtensor::to_type_timestamp(), AspnMessageType message_type = ASPN_EXTENDED_BEGIN)

Constructor.

Parameters

  • t – Time of validity.

  • message_type – the ASPN message type assigned to the derived class that is implementing the InertialPosVelAtt interface. This will likely be specific to the running program. Defaults to ASPN_EXTENDED_BEGIN since InertialPosVelAtt extends the set of defined ASPN messages. Note, if this default value is not overridden by a program using NavToolkit, then the type assigned to the derived class of InertialPosVelAtt may conflict with another type used by that program. Users should be careful to ensure that all ASPN message types used by their program have unique types if they are using AspnBase::get_message_type to identify a message type.