#include <GnssHandler.h>

Collaboration diagram for holistic_fusion::GnssHandler:

Public Member Functions
	GnssHandler ()
void	initHandler (const Eigen::Vector3d &accumulatedLeftCoordinates, const Eigen::Vector3d &accumulatedRightCoordinates)
void	initHandler (const Eigen::Vector3d &accumulatedCoordinates)
void	convertNavSatToPositions (const Eigen::Vector3d &leftGnssCoordinate, const Eigen::Vector3d &rightGnssCoordinate, Eigen::Vector3d &leftPosition, Eigen::Vector3d &rightPosition)
void	convertNavSatToPosition (const Eigen::Vector3d &gnssCoordinate, Eigen::Vector3d &position)
double	computeYaw (const Eigen::Vector3d &gnssPos1, const Eigen::Vector3d &gnssPos2)
void	convertNavSatToPositionLV03 (const Eigen::Vector3d &gnssCoordinate, Eigen::Vector3d &position)
void	setUseGnssReferenceFlag (const bool useGnssReferenceFlag)
void	setGlobalYawDegFromFile (const double globalYawDegFromFile)
void	setUseYawInitialGuessFromFile (const bool useYawInitialGuessFromFile)
void	setUseYawInitialGuessFromAlignment (const bool useYawInitialGuessFromAlignment)
void	setGnssReferenceLatitude (const double gnssReferenceLatitude)
void	setGnssReferenceLongitude (const double gnssReferenceLongitude)
void	setGnssReferenceAltitude (const double gnssReferenceAltitude)
void	setGnssReferenceHeading (const double gnssReferenceHeading)
bool	getUseGnssReferenceFlag () const
double	getGlobalYawDegFromFile () const
bool	getUseYawInitialGuessFromFile () const
bool	getUseYawInitialGuessFromAlignment () const
double	getGnssReferenceLatitude () const
double	getGnssReferenceLongitude () const
double	getGnssReferenceAltitude () const
double	getGnssReferenceHeading () const

Private Member Functions
Eigen::Vector3d	computeHeading_ (const Eigen::Vector3d &gnssPos1, const Eigen::Vector3d &gnssPos2)

Static Private Member Functions
static double	computeYawFromHeadingVector_ (const Eigen::Vector3d &headingVector)

Private Attributes
Gnss	gnssSensor_
double	globalAttitudeYaw_
bool	useGnssReferenceFlag_ = false
double	globalYawDegFromFile_ {0.0}
bool	useYawInitialGuessFromFile_ {false}
bool	useYawInitialGuessFromAlignment_ {false}
double	presetGnssReferenceLatitude_
double	presetGnssReferenceLongitude_
double	presetGnssReferenceAltitude_
double	presetGnssReferenceHeading_

Detailed Description

Definition at line 20 of file GnssHandler.h.

Constructor & Destructor Documentation

◆ GnssHandler()

holistic_fusion::GnssHandler::GnssHandler ( )

Definition at line 16 of file GnssHandler.cpp.

Member Function Documentation

◆ computeHeading_()

Eigen::Vector3d holistic_fusion::GnssHandler::computeHeading_	(	const Eigen::Vector3d &	gnssPos1,
		const Eigen::Vector3d &	gnssPos2 )

private

Definition at line 95 of file GnssHandler.cpp.

◆ computeYaw()

double holistic_fusion::GnssHandler::computeYaw	(	const Eigen::Vector3d &	gnssPos1,
		const Eigen::Vector3d &	gnssPos2 )

Definition at line 83 of file GnssHandler.cpp.

◆ computeYawFromHeadingVector_()

double holistic_fusion::GnssHandler::computeYawFromHeadingVector_ ( const Eigen::Vector3d & headingVector )

staticprivate

Definition at line 106 of file GnssHandler.cpp.

◆ convertNavSatToPosition()

void holistic_fusion::GnssHandler::convertNavSatToPosition	(	const Eigen::Vector3d &	gnssCoordinate,
		Eigen::Vector3d &	position )

Definition at line 77 of file GnssHandler.cpp.

◆ convertNavSatToPositionLV03()

void holistic_fusion::GnssHandler::convertNavSatToPositionLV03	(	const Eigen::Vector3d &	gnssCoordinate,
		Eigen::Vector3d &	position )

Definition at line 88 of file GnssHandler.cpp.

◆ convertNavSatToPositions()

void holistic_fusion::GnssHandler::convertNavSatToPositions	(	const Eigen::Vector3d &	leftGnssCoordinate,
		const Eigen::Vector3d &	rightGnssCoordinate,
		Eigen::Vector3d &	leftPosition,
		Eigen::Vector3d &	rightPosition )

Left

Right

Definition at line 68 of file GnssHandler.cpp.

◆ getGlobalYawDegFromFile()

double holistic_fusion::GnssHandler::getGlobalYawDegFromFile ( ) const

inline

Definition at line 52 of file GnssHandler.h.

◆ getGnssReferenceAltitude()

double holistic_fusion::GnssHandler::getGnssReferenceAltitude ( ) const

inline

Definition at line 58 of file GnssHandler.h.

◆ getGnssReferenceHeading()

double holistic_fusion::GnssHandler::getGnssReferenceHeading ( ) const

inline

Definition at line 59 of file GnssHandler.h.

◆ getGnssReferenceLatitude()

double holistic_fusion::GnssHandler::getGnssReferenceLatitude ( ) const

inline

Definition at line 56 of file GnssHandler.h.

◆ getGnssReferenceLongitude()

double holistic_fusion::GnssHandler::getGnssReferenceLongitude ( ) const

inline

Definition at line 57 of file GnssHandler.h.

◆ getUseGnssReferenceFlag()

bool holistic_fusion::GnssHandler::getUseGnssReferenceFlag ( ) const

inline

Definition at line 51 of file GnssHandler.h.

◆ getUseYawInitialGuessFromAlignment()

bool holistic_fusion::GnssHandler::getUseYawInitialGuessFromAlignment ( ) const

inline

Definition at line 54 of file GnssHandler.h.

◆ getUseYawInitialGuessFromFile()

bool holistic_fusion::GnssHandler::getUseYawInitialGuessFromFile ( ) const

inline

Definition at line 53 of file GnssHandler.h.

◆ initHandler() [1/2]

void holistic_fusion::GnssHandler::initHandler ( const Eigen::Vector3d & accumulatedCoordinates )

Definition at line 47 of file GnssHandler.cpp.

◆ initHandler() [2/2]

void holistic_fusion::GnssHandler::initHandler	(	const Eigen::Vector3d &	accumulatedLeftCoordinates,
		const Eigen::Vector3d &	accumulatedRightCoordinates )

Definition at line 20 of file GnssHandler.cpp.

◆ setGlobalYawDegFromFile()

void holistic_fusion::GnssHandler::setGlobalYawDegFromFile ( const double globalYawDegFromFile )

inline

Definition at line 39 of file GnssHandler.h.

◆ setGnssReferenceAltitude()

void holistic_fusion::GnssHandler::setGnssReferenceAltitude ( const double gnssReferenceAltitude )

inline

Definition at line 47 of file GnssHandler.h.

◆ setGnssReferenceHeading()

void holistic_fusion::GnssHandler::setGnssReferenceHeading ( const double gnssReferenceHeading )

inline

Definition at line 48 of file GnssHandler.h.

◆ setGnssReferenceLatitude()

void holistic_fusion::GnssHandler::setGnssReferenceLatitude ( const double gnssReferenceLatitude )

inline

Definition at line 45 of file GnssHandler.h.

◆ setGnssReferenceLongitude()

void holistic_fusion::GnssHandler::setGnssReferenceLongitude ( const double gnssReferenceLongitude )

inline

Definition at line 46 of file GnssHandler.h.

◆ setUseGnssReferenceFlag()

void holistic_fusion::GnssHandler::setUseGnssReferenceFlag ( const bool useGnssReferenceFlag )

inline

Definition at line 38 of file GnssHandler.h.

◆ setUseYawInitialGuessFromAlignment()

void holistic_fusion::GnssHandler::setUseYawInitialGuessFromAlignment ( const bool useYawInitialGuessFromAlignment )

inline

Definition at line 41 of file GnssHandler.h.

◆ setUseYawInitialGuessFromFile()

void holistic_fusion::GnssHandler::setUseYawInitialGuessFromFile ( const bool useYawInitialGuessFromFile )

inline

Definition at line 40 of file GnssHandler.h.

Member Data Documentation

◆ globalAttitudeYaw_

double holistic_fusion::GnssHandler::globalAttitudeYaw_

private

Definition at line 69 of file GnssHandler.h.

◆ globalYawDegFromFile_

double holistic_fusion::GnssHandler::globalYawDegFromFile_ {0.0}

private

Definition at line 73 of file GnssHandler.h.

◆ gnssSensor_

Gnss holistic_fusion::GnssHandler::gnssSensor_

private

Definition at line 68 of file GnssHandler.h.

◆ presetGnssReferenceAltitude_

double holistic_fusion::GnssHandler::presetGnssReferenceAltitude_

private

Definition at line 80 of file GnssHandler.h.

◆ presetGnssReferenceHeading_

double holistic_fusion::GnssHandler::presetGnssReferenceHeading_

private

Definition at line 81 of file GnssHandler.h.

◆ presetGnssReferenceLatitude_

double holistic_fusion::GnssHandler::presetGnssReferenceLatitude_

private

Definition at line 78 of file GnssHandler.h.

◆ presetGnssReferenceLongitude_

double holistic_fusion::GnssHandler::presetGnssReferenceLongitude_

private

Definition at line 79 of file GnssHandler.h.

◆ useGnssReferenceFlag_

bool holistic_fusion::GnssHandler::useGnssReferenceFlag_ = false

private

Definition at line 72 of file GnssHandler.h.

◆ useYawInitialGuessFromAlignment_

bool holistic_fusion::GnssHandler::useYawInitialGuessFromAlignment_ {false}

private

Definition at line 75 of file GnssHandler.h.

◆ useYawInitialGuessFromFile_

bool holistic_fusion::GnssHandler::useYawInitialGuessFromFile_ {false}

private

Definition at line 74 of file GnssHandler.h.

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

holistic_fusion/include/holistic_fusion/gnss/GnssHandler.h
holistic_fusion/src/lib/GnssHandler.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GnssHandler()

Member Function Documentation

◆ computeHeading_()

◆ computeYaw()

◆ computeYawFromHeadingVector_()

◆ convertNavSatToPosition()

◆ convertNavSatToPositionLV03()

◆ convertNavSatToPositions()

◆ getGlobalYawDegFromFile()

◆ getGnssReferenceAltitude()

◆ getGnssReferenceHeading()

◆ getGnssReferenceLatitude()

◆ getGnssReferenceLongitude()

◆ getUseGnssReferenceFlag()

◆ getUseYawInitialGuessFromAlignment()

◆ getUseYawInitialGuessFromFile()

◆ initHandler() [1/2]

◆ initHandler() [2/2]

◆ setGlobalYawDegFromFile()

◆ setGnssReferenceAltitude()

◆ setGnssReferenceHeading()

◆ setGnssReferenceLatitude()

◆ setGnssReferenceLongitude()

◆ setUseGnssReferenceFlag()

◆ setUseYawInitialGuessFromAlignment()

◆ setUseYawInitialGuessFromFile()

Member Data Documentation

◆ globalAttitudeYaw_

◆ globalYawDegFromFile_

◆ gnssSensor_

◆ presetGnssReferenceAltitude_

◆ presetGnssReferenceHeading_

◆ presetGnssReferenceLatitude_

◆ presetGnssReferenceLongitude_

◆ useGnssReferenceFlag_

◆ useYawInitialGuessFromAlignment_

◆ useYawInitialGuessFromFile_