Truth for simulation. More...

#include <truth_engine_cyclic.hpp>

Inheritance diagram for TruthEngineCyclic:

Collaboration diagram for TruthEngineCyclic:

Public Member Functions
	TruthEngineCyclic (Eigen::Vector3d pos_frequency, Eigen::Vector3d ang_frequency, Eigen::Vector3d pos_offset, Eigen::Vector3d ang_offset, double pos_amplitude, double ang_amplitude, double stationary_time, double max_time, std::shared_ptr< DebugLogger > logger)
	Setter for body cycle frequencies. More...

void	SetBodyPosCycleFrequency (const Eigen::Vector3d &frequency)
	Setter for body position cycle frequency. More...

void	SetBodyAngCycleFrequency (const Eigen::Vector3d &frequency)
	Setter for body euler angle cycle frequency. More...

Eigen::Vector3d	GetBodyPosition (double time)
	True body position getter. More...

Eigen::Vector3d	GetBodyVelocity (double time)
	True body velocity getter. More...

Eigen::Vector3d	GetBodyAcceleration (double time)
	True body acceleration getter. More...

Eigen::Vector3d	GetBodyRollPitchYaw (double time)
	True body Roll-Pitch-Yaw vector getter. More...

Eigen::Quaterniond	GetBodyAngularPosition (double time)
	True body orientation quaternion getter. More...

Eigen::Vector3d	GetBodyAngularRate (double time)
	True body angular rate getter. More...

Eigen::Vector3d	GetBodyAngularAcceleration (double time)
	True body angular acceleration getter. More...

Public Member Functions inherited from TruthEngine
	TruthEngine (double max_time, std::shared_ptr< DebugLogger > logger)
	TruthEngine constructor. More...

Eigen::Vector3d	GetImuPosition (unsigned int sensor_id)
	True sensor position getter. More...

Eigen::Quaterniond	GetImuAngularPosition (unsigned int sensor_id)
	True sensor orientation getter. More...

Eigen::Vector3d	GetImuAccelerometerBias (unsigned int sensor_id)
	True sensor orientation getter. More...

Eigen::Vector3d	GetImuGyroscopeBias (unsigned int sensor_id)
	True sensor orientation getter. More...

Eigen::Vector3d	GetCameraPosition (unsigned int sensor_id)
	True sensor position getter. More...

Eigen::Quaterniond	GetCameraAngularPosition (unsigned int sensor_id)
	True sensor orientation getter. More...

Intrinsics	GetCameraIntrinsics (unsigned int sensor_id)
	True camera intrinsics getter. More...

Eigen::Vector3d	GetGpsPosition (unsigned int sensor_id)
	GPS sensor position getter. More...

Eigen::Vector3d	GetLocalPosition () const
	Local frame reference LLA getter. More...

double	GetLocalHeading () const
	Local frame reference heading getter. More...

void	SetImuPosition (unsigned int sensor_id, const Eigen::Vector3d &imu_pos)
	True sensor position setter. More...

void	SetImuAngularPosition (unsigned int sensor_id, const Eigen::Quaterniond &imu_ang_pos)
	True sensor orientation setter. More...

void	SetImuAccelerometerBias (unsigned int sensor_id, const Eigen::Vector3d &imu_acc_bias)
	True sensor orientation setter. More...

void	SetImuGyroscopeBias (unsigned int sensor_id, const Eigen::Vector3d &imu_gyro_bias)
	True sensor orientation setter. More...

void	SetCameraPosition (unsigned int sensor_id, const Eigen::Vector3d &cam_pos)
	True sensor position setter. More...

void	SetCameraAngularPosition (unsigned int sensor_id, const Eigen::Quaterniond &cam_ang_pos)
	True sensor orientation setter. More...

void	SetCameraIntrinsics (unsigned int sensor_id, const Intrinsics &intrinsics)
	True camera intrinsics setter. More...

void	SetBoardPosition (unsigned int board_id, const Eigen::Vector3d &board_position)
	Fiducial board position setter. More...

void	SetBoardOrientation (unsigned int board_id, const Eigen::Quaterniond &board_orientation)
	Fiducial board orientation setter. More...

void	SetGpsPosition (unsigned int sensor_id, const Eigen::Vector3d &gps_position)
	GPS sensor position setter. More...

void	SetLocalPosition (const Eigen::Vector3d &lla_reference)
	Local frame reference LLA setter. More...

void	SetLocalHeading (double heading)
	Local frame reference heading setter. More...

Eigen::Vector3d	GetBoardPosition (unsigned int board_id)
	Fiducial board position getter. More...

Eigen::Quaterniond	GetBoardOrientation (unsigned int board_id)
	Fiducial board orientation getter. More...

void	WriteTruthData (double data_log_rate, const std::string &log_directory)
	Write truth data to CSV files. More...

void	GenerateGridFeatures ()
	Feature generation function.

std::vector< cv::Point3d >	GenerateVisibleFeatures (double time, unsigned int camera_id, unsigned int new_feature_count)
	Generate new features that are visible. More...

std::vector< cv::Point3d >	GetFeatures ()
	Getter function for features. More...

cv::Point3d	GetFeature (int feature_id)
	Getter function for a specific feature. More...

Static Public Member Functions
static Eigen::Matrix3d	EulerDerivativeTransform (const Eigen::Vector3d &rpy_vector)
	Calculate transformation matrix to convert RPY derivatives into final frame. More...

Additional Inherited Members
Public Attributes inherited from TruthEngine
double	m_max_time
	Maximum time for truth engine.

Protected Attributes inherited from TruthEngine
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

Truth for simulation.

Constructor & Destructor Documentation

◆ TruthEngineCyclic()

TruthEngineCyclic::TruthEngineCyclic	(	Eigen::Vector3d	pos_frequency,
		Eigen::Vector3d	ang_frequency,
		Eigen::Vector3d	pos_offset,
		Eigen::Vector3d	ang_offset,
		double	pos_amplitude,
		double	ang_amplitude,
		double	stationary_time,
		double	max_time,
		std::shared_ptr< DebugLogger >	logger
	)

Setter for body cycle frequencies.

Parameters

pos_frequency	Vector of position frequencies
ang_frequency	Vector of angular frequencies
pos_offset	Initial position offset in the local frame
ang_offset	Initial angular offset to the local frame rpy
pos_amplitude	Amplitude of position cycle
ang_amplitude	Amplitude of angular cycle
stationary_time	Time to be stationary before beginning motion
max_time	Maximum simulation time
logger	Debug logger pointer

Member Function Documentation

◆ EulerDerivativeTransform()

Eigen::Matrix3d TruthEngineCyclic::EulerDerivativeTransform ( const Eigen::Vector3d & rpy_vector )

static

Calculate transformation matrix to convert RPY derivatives into final frame.

Parameters

rpy_vector Roll-Pitch-Yaw vector

◆ GetBodyAcceleration()

Eigen::Vector3d TruthEngineCyclic::GetBodyAcceleration ( double time )

virtual

True body acceleration getter.

Parameters

time	Simulation time

Implements TruthEngine.

◆ GetBodyAngularAcceleration()

Eigen::Vector3d TruthEngineCyclic::GetBodyAngularAcceleration ( double time )

virtual

True body angular acceleration getter.

Parameters

time	Simulation time

Implements TruthEngine.

◆ GetBodyAngularPosition()

Eigen::Quaterniond TruthEngineCyclic::GetBodyAngularPosition ( double time )

virtual

True body orientation quaternion getter.

Parameters

time	Simulation time

Implements TruthEngine.

◆ GetBodyAngularRate()

Eigen::Vector3d TruthEngineCyclic::GetBodyAngularRate ( double time )

virtual

True body angular rate getter.

Parameters

time	Simulation time

Implements TruthEngine.

◆ GetBodyPosition()

Eigen::Vector3d TruthEngineCyclic::GetBodyPosition ( double time )

virtual

True body position getter.

Parameters

time	Simulation time

Implements TruthEngine.

◆ GetBodyRollPitchYaw()

Eigen::Vector3d TruthEngineCyclic::GetBodyRollPitchYaw ( double time )

True body Roll-Pitch-Yaw vector getter.

Parameters

time	Simulation time

◆ GetBodyVelocity()

Eigen::Vector3d TruthEngineCyclic::GetBodyVelocity ( double time )

virtual

True body velocity getter.

Parameters

time	Simulation time

Implements TruthEngine.

◆ SetBodyAngCycleFrequency()

void TruthEngineCyclic::SetBodyAngCycleFrequency ( const Eigen::Vector3d & frequency )

Setter for body euler angle cycle frequency.

Parameters

frequency Vector of frequencies to use

◆ SetBodyPosCycleFrequency()

void TruthEngineCyclic::SetBodyPosCycleFrequency ( const Eigen::Vector3d & frequency )

Setter for body position cycle frequency.

Parameters

frequency Vector of frequencies to use

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

src/infrastructure/sim/truth_engine_cyclic.hpp
src/infrastructure/sim/truth_engine_cyclic.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TruthEngineCyclic()

Member Function Documentation

◆ EulerDerivativeTransform()

◆ GetBodyAcceleration()

◆ GetBodyAngularAcceleration()

◆ GetBodyAngularPosition()

◆ GetBodyAngularRate()

◆ GetBodyPosition()

◆ GetBodyRollPitchYaw()

◆ GetBodyVelocity()

◆ SetBodyAngCycleFrequency()

◆ SetBodyPosCycleFrequency()