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< ChBody > | GetParent () 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::ChBody > | m_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
-
parent Body to which the sensor is attached. updateRate Rate at which the sensor should update. offsetPose Relative position and orientation of the sensor with respect to its parent object. gps_reference Reference location in GPS coordinates (longitude, latitude, altitude) of simulation origin noise_model The 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
