uvsim::Ins Class Reference

#include <Ins.h>

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List of all members.

Public Member Functions
	Ins (std::string accelCalib, std::string gyroCalib, std::string magCalib, double frequency, Imu6DofSensor *imu)
void	initializeStatic (double altitude0, double latitudae0, double longitude0)
void	read ()
void	update ()
void	print ()
void	stop ()
vector< double >	getQuat ()
GeoCoord	getGeo ()
virtual	~Ins ()
Public Attributes
double	latitude
double	longitude
double	altitude
double	latitude0
double	longitude0
double	altitude0
double	latitudedot
double	longitudedot
double	altitudedot
double	latitudedot0
double	longitudedot0
double	altitudedot0
double	latitudeInit
double	longitudeInit
double	altitudeInit
vector< double >	accelInertial
vector< double >	accelInertial0
vector< double >	specificForce
vector< double >	velocity
vector< double >	velocity0
vector< double >	accel
vector< double >	gyro
vector< double >	mag
vector< double >	quatdot
vector< double >	quatdot0
vector< double >	quat
vector< double >	quat0
vector< double >	euler
vector< double >	accel0
vector< double >	gyro0
vector< double >	mag0
double	freq
matrix< double >	W
matrix< double >	DCM
timeval	timeInitial
timeval	timePrev
timeval	timePres
vector< double >	accelM
vector< double >	accelB
vector< double >	gyroM
vector< double >	gyroB
vector< double >	magM
vector< double >	magB
Imu6DofSensor *	imu
vector< double >	sum_mag
vector< double >	sum_accel
vector< double >	sum_gyro
vector< double >	sumSq_mag
vector< double >	sumSq_accel
vector< double >	sumSq_gyro
vector< double >	avg_mag
vector< double >	avg_accel
vector< double >	avg_gyro
vector< double >	std_mag
vector< double >	std_accel
vector< double >	std_gyro
GeoMag *	geoMag
Static Public Attributes
static const int	initCycles = 2000
static const double	magYear = 2009

Detailed Description

Definition at line 47 of file Ins.h.

Constructor & Destructor Documentation

uvsim::Ins::Ins	(	std::string	accelCalib,
		std::string	gyroCalib,
		std::string	magCalib,
		double	frequency,
		Imu6DofSensor *	imu
	)

Definition at line 32 of file Ins.cc.

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uvsim::Ins::~Ins ( ) [virtual]

Definition at line 338 of file Ins.cc.

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Member Function Documentation

GeoCoord uvsim::Ins::getGeo ( ) [inline]

Definition at line 104 of file Ins.h.

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vector<double> uvsim::Ins::getQuat ( ) [inline]

Definition at line 100 of file Ins.h.

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void uvsim::Ins::initializeStatic	(	double	altitude0,
		double	latitudae0,
		double	longitude0
	)

Definition at line 69 of file Ins.cc.

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void uvsim::Ins::print ( )

Definition at line 294 of file Ins.cc.

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void uvsim::Ins::read ( )

Definition at line 189 of file Ins.cc.

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void uvsim::Ins::stop ( )

Definition at line 332 of file Ins.cc.

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void uvsim::Ins::update ( )

Definition at line 220 of file Ins.cc.

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Member Data Documentation

vector<double> uvsim::Ins::accel

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::accel0

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::accelB

Definition at line 63 of file Ins.h.

vector<double> uvsim::Ins::accelInertial

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::accelInertial0

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::accelM

Definition at line 63 of file Ins.h.

double uvsim::Ins::altitude

Definition at line 52 of file Ins.h.

double uvsim::Ins::altitude0

Definition at line 53 of file Ins.h.

double uvsim::Ins::altitudedot

Definition at line 54 of file Ins.h.

double uvsim::Ins::altitudedot0

Definition at line 55 of file Ins.h.

double uvsim::Ins::altitudeInit

Definition at line 56 of file Ins.h.

vector<double> uvsim::Ins::avg_accel

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::avg_gyro

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::avg_mag

Definition at line 72 of file Ins.h.

matrix<double> uvsim::Ins::DCM

Definition at line 61 of file Ins.h.

vector<double> uvsim::Ins::euler

Definition at line 57 of file Ins.h.

double uvsim::Ins::freq

Definition at line 60 of file Ins.h.

GeoMag* uvsim::Ins::geoMag

Definition at line 78 of file Ins.h.

vector<double> uvsim::Ins::gyro

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::gyro0

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::gyroB

Definition at line 63 of file Ins.h.

vector<double> uvsim::Ins::gyroM

Definition at line 63 of file Ins.h.

Imu6DofSensor* uvsim::Ins::imu

Definition at line 65 of file Ins.h.

const int uvsim::Ins::initCycles = 2000 [static]

Definition at line 68 of file Ins.h.

double uvsim::Ins::latitude

Definition at line 52 of file Ins.h.

double uvsim::Ins::latitude0

Definition at line 53 of file Ins.h.

double uvsim::Ins::latitudedot

Definition at line 54 of file Ins.h.

double uvsim::Ins::latitudedot0

Definition at line 55 of file Ins.h.

double uvsim::Ins::latitudeInit

Definition at line 56 of file Ins.h.

double uvsim::Ins::longitude

Definition at line 52 of file Ins.h.

double uvsim::Ins::longitude0

Definition at line 53 of file Ins.h.

double uvsim::Ins::longitudedot

Definition at line 54 of file Ins.h.

double uvsim::Ins::longitudedot0

Definition at line 55 of file Ins.h.

double uvsim::Ins::longitudeInit

Definition at line 56 of file Ins.h.

vector<double> uvsim::Ins::mag

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::mag0

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::magB

Definition at line 63 of file Ins.h.

vector<double> uvsim::Ins::magM

Definition at line 63 of file Ins.h.

const double uvsim::Ins::magYear = 2009 [static]

Definition at line 69 of file Ins.h.

vector<double> uvsim::Ins::quat

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::quat0

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::quatdot

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::quatdot0

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::specificForce

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::std_accel

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::std_gyro

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::std_mag

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::sum_accel

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::sum_gyro

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::sum_mag

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::sumSq_accel

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::sumSq_gyro

Definition at line 72 of file Ins.h.

vector<double> uvsim::Ins::sumSq_mag

Definition at line 72 of file Ins.h.

timeval uvsim::Ins::timeInitial

Definition at line 62 of file Ins.h.

timeval uvsim::Ins::timePres

Definition at line 62 of file Ins.h.

timeval uvsim::Ins::timePrev

Definition at line 62 of file Ins.h.

vector<double> uvsim::Ins::velocity

Definition at line 57 of file Ins.h.

vector<double> uvsim::Ins::velocity0

Definition at line 57 of file Ins.h.

matrix<double> uvsim::Ins::W

Definition at line 61 of file Ins.h.

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

/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/navigation/Ins.h
/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/navigation/Ins.cc

Generated on Mon Nov 9 12:57:29 2009 for uvsim by 1.6.1