chrono::sensor::ChGPSSensor Class Reference

Description

GPS class.

This class uses the reference location of a simulation and spherically maps the cartesian space simulation onto a sphere, calculating the latitude, longitude, altitude relative to the Earth's surface. The reference location defines what GPS coordinates are associated with the origin of the simulation. The mapping is performed such that the +Z-axis points up, +X-axis points East, and the +Y-axis points North.

#include <ChGPSSensor.h>

Inheritance diagram for chrono::sensor::ChGPSSensor:
Collaboration diagram for chrono::sensor::ChGPSSensor:

Public Member Functions

 ChGPSSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, ChVector< double > gps_reference, std::shared_ptr< ChGPSNoiseModel > noise_model)
 Class constructor. More...
 
 ~ChGPSSensor ()
 Class destructor.
 
- Public Member Functions inherited from chrono::sensor::ChSensor
 ChSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose)
 Constructor for the base sensor class. More...
 
virtual ~ChSensor ()
 Class destructor.
 
void SetOffsetPose (chrono::ChFrame< double > pose)
 Set the sensor's relative position and orientation. More...
 
ChFrame< double > GetOffsetPose ()
 Get the sensor's relative position and orientation. More...
 
std::shared_ptr< ChBodyGetParent () const
 Get the object to which the sensor is attached. More...
 
void SetName (std::string name)
 Set the sensor's name. More...
 
std::string GetName () const
 Get the name of the sensor. More...
 
float GetUpdateRate () const
 Get the sensor update rate (Hz) More...
 
void SetLag (float t)
 Set the lag parameter. More...
 
float GetLag () const
 Get the sensor lag (seconds) More...
 
void SetCollectionWindow (float t)
 Set the collection window. More...
 
float GetCollectionWindow () const
 Get the sensor data collection window (seconds) More...
 
void SetUpdateRate (float updateRate)
 Set the sensor update rate (Hz) More...
 
unsigned int GetNumLaunches ()
 Get the number of times the sensor has been updated. More...
 
void IncrementNumLaunches ()
 Increments the count of number of updates.
 
std::list< std::shared_ptr< ChFilter > > GetFilterList () const
 Get the sensor's list of filters. More...
 
void PushFilter (std::shared_ptr< ChFilter > filter)
 Add a filter to the sensor. More...
 
void LockFilterList ()
 Gives ability to lock the filter list to prevent race conditions. More...
 
template<class UserBufferType >
UserBufferType GetMostRecentBuffer ()
 Get the last filter in the list that matches the template type. More...
 
template<>
CH_SENSOR_API UserR8BufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserRGBA8BufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserDIBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserXYZIBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserIMUBufferPtr GetMostRecentBuffer ()
 
template<>
CH_SENSOR_API UserGPSBufferPtr GetMostRecentBuffer ()
 

Public Attributes

std::vector< std::tuple< float, ChVector< double > > > gps_key_frames
 Variable for communicating the sensor's keyframes from the ChSystem into the data generation filter.
 

Additional Inherited Members

- Protected Attributes inherited from chrono::sensor::ChSensor
float m_updateRate
 sensor update rate
 
float m_lag
 sensor lag from the time all scene information is available (sensor processing time)
 
float m_collection_window
 time over which data is collected. More...
 
float m_timeLastUpdated
 time since previous update
 
std::shared_ptr< chrono::ChBodym_parent
 object to which the sensor is attached
 
chrono::ChFrame< double > m_offsetPose
 position and orientation of the sensor relative to its parent
 
std::string m_name
 name of the sensor
 
unsigned int m_num_launches
 number of times the sensor has been updated
 
std::list< std::shared_ptr< ChFilter > > m_filters
 filter list for post-processing sensor data
 
bool m_filter_list_locked = false
 gives ability to lock the filter list to prevent race conditions
 

Constructor & Destructor Documentation

◆ ChGPSSensor()

CH_SENSOR_API chrono::sensor::ChGPSSensor::ChGPSSensor ( std::shared_ptr< chrono::ChBody parent,
float  updateRate,
chrono::ChFrame< double >  offsetPose,
ChVector< double >  gps_reference,
std::shared_ptr< ChGPSNoiseModel noise_model 
)

Class constructor.

Parameters
parentBody to which the sensor is attached.
updateRateRate at which the sensor should update.
offsetPoseRelative position and orientation of the sensor with respect to its parent object.
lagLag time between end of data collection and when data becomes available to the user.
collection_windowCollection time over which the sensor should collect data from the simulation.
gps_referenceReference location in GPS coordinates (longitude, latitude, altitude) of simulation origin
noise_modelThe noise model that should be used for augmenting the GPS data.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_sensor/ChGPSSensor.h
  • /builds/uwsbel/chrono/src/chrono_sensor/ChGPSSensor.cpp