CMOOSObservation Class Reference

#include <MOOSObservation.h>

Inheritance diagram for CMOOSObservation:

Collaboration diagram for CMOOSObservation:

List of all members.

Public Types
enum	Type {   UNKNOWN_TYPE, X, Y, YAW,   LBL_BEACON_2WR, DEPTH, ALTITUDE, SPEED,   THRUST, BODY_VEL_Y, BODY_VEL_X, BODY_VEL_Z,   TIDE, RUDDER, ELEVATOR, HEADING_BIAS }
Public Member Functions
void	UsingHeadingBias (bool bUsing)
bool	SetGoodDA (bool bGoodDA)
bool	Ignore (bool bIgnore)
bool	IsType (CMOOSObservation::Type eType)
bool	SetFixed (bool bFixed)
bool	IsFixed ()
string	GetName ()
virtual void	Trace ()
int	GetDimension ()
bool	operator> (const CMOOSObservation &Obs) const
bool	JacEvaluate (Matrix &XIn, Matrix &XOut)
bool	MakeMatrices (Matrix &Innov, Matrix &jH, Matrix &jR, Matrix &Xhat)
	CMOOSObservation ()
virtual	~CMOOSObservation ()
Static Public Member Functions
static bool	JacCallBack (Matrix &XOut, Matrix &XIn, void *pParam)
Public Attributes
CLBLMaths	m_LBLMaths
bool	m_bGoodDA
Type	m_eType
double	m_dfTime
double	m_dfSV
	sound velocity..
double	m_dfData
double	m_dfData2
double	m_dfDataStd
double	m_dfDataStd2
int	m_nChan
bool	m_bUsed
bool	m_bIgnore
bool	m_bNumericalJacobians
CMOOSNavSensor *	m_pRespondingSensor
CMOOSNavSensor *	m_pInterrogateSensor
Matrix *	m_pXEvaluate
int	m_nRow
int	m_nDim
bool	m_bUseHeadingBias
double	m_dfInnov
double	m_dfInnovStd
Protected Member Functions
void	DoDebug ()
bool	DoExplicitLBLJacobians ()
bool	MakeBeacon2WRMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
bool	MakeXYMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
bool	MakeYawMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
bool	MakeHeadingBiasMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
bool	MakeTideMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
bool	MakeDepthMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
bool	MakeBodyVelMatrices (Matrix &Innov, Matrix &jH, Matrix &jR)
Protected Attributes
bool	m_bFixed

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Detailed Description

Definition at line 52 of file MOOSObservation.h.

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Member Enumeration Documentation

enum CMOOSObservation::Type

Enumerator:

UNKNOWN_TYPE
X
Y
YAW
LBL_BEACON_2WR
DEPTH
ALTITUDE
SPEED
THRUST
BODY_VEL_Y
BODY_VEL_X
BODY_VEL_Z
TIDE
RUDDER
ELEVATOR
HEADING_BIAS

Definition at line 56 of file MOOSObservation.h.

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Constructor & Destructor Documentation

CMOOSObservation::CMOOSObservation

(

)

Definition at line 66 of file MOOSObservation.cpp.

CMOOSObservation::~CMOOSObservation

(

)

[virtual]

Definition at line 105 of file MOOSObservation.cpp.

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Member Function Documentation

void CMOOSObservation::DoDebug

(

)

[protected]

Definition at line 605 of file MOOSObservation.cpp.

bool CMOOSObservation::DoExplicitLBLJacobians

(

)

[protected]

int CMOOSObservation::GetDimension

(

)

Definition at line 283 of file MOOSObservation.cpp.

string CMOOSObservation::GetName

(

)

Reimplemented from CMOOSNavBase.

Definition at line 612 of file MOOSObservation.cpp.

bool CMOOSObservation::Ignore

(

bool

bIgnore

)

Definition at line 657 of file MOOSObservation.cpp.

bool CMOOSObservation::IsFixed

(

)

Definition at line 640 of file MOOSObservation.cpp.

bool CMOOSObservation::IsType

(

CMOOSObservation::Type

eType

)

Definition at line 652 of file MOOSObservation.cpp.

bool CMOOSObservation::JacCallBack	(	Matrix &	XOut,
		Matrix &	XIn,
		void *	pParam
	)		[static]

Definition at line 53 of file MOOSObservation.cpp.

bool CMOOSObservation::JacEvaluate	(	Matrix &	XIn,
		Matrix &	XOut
	)

Definition at line 254 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeBeacon2WRMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 171 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeBodyVelMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 520 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeDepthMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 331 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeHeadingBiasMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 289 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR,
		Matrix &	Xhat
	)

Definition at line 111 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeTideMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 310 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeXYMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 386 of file MOOSObservation.cpp.

bool CMOOSObservation::MakeYawMatrices	(	Matrix &	Innov,
		Matrix &	jH,
		Matrix &	jR
	)		[protected]

Definition at line 485 of file MOOSObservation.cpp.

bool CMOOSObservation::operator>

(

const CMOOSObservation &

Obs

)

const [inline]

Definition at line 93 of file MOOSObservation.h.

bool CMOOSObservation::SetFixed

(

bool

bFixed

)

Definition at line 645 of file MOOSObservation.cpp.

bool CMOOSObservation::SetGoodDA

(

bool

bGoodDA

)

Definition at line 664 of file MOOSObservation.cpp.

void CMOOSObservation::Trace

(

)

[virtual]

Reimplemented from CMOOSNavBase.

Definition at line 570 of file MOOSObservation.cpp.

void CMOOSObservation::UsingHeadingBias

(

bool

bUsing

)

Definition at line 670 of file MOOSObservation.cpp.

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Member Data Documentation

bool CMOOSObservation::m_bFixed [protected]

Definition at line 163 of file MOOSObservation.h.

bool CMOOSObservation::m_bGoodDA

Definition at line 84 of file MOOSObservation.h.

bool CMOOSObservation::m_bIgnore

Definition at line 136 of file MOOSObservation.h.

bool CMOOSObservation::m_bNumericalJacobians

Definition at line 139 of file MOOSObservation.h.

bool CMOOSObservation::m_bUsed

Definition at line 133 of file MOOSObservation.h.

bool CMOOSObservation::m_bUseHeadingBias

Definition at line 156 of file MOOSObservation.h.

double CMOOSObservation::m_dfData

Definition at line 115 of file MOOSObservation.h.

double CMOOSObservation::m_dfData2

Definition at line 118 of file MOOSObservation.h.

double CMOOSObservation::m_dfDataStd

Definition at line 122 of file MOOSObservation.h.

double CMOOSObservation::m_dfDataStd2

Definition at line 125 of file MOOSObservation.h.

double CMOOSObservation::m_dfInnov

Definition at line 160 of file MOOSObservation.h.

double CMOOSObservation::m_dfInnovStd

Definition at line 161 of file MOOSObservation.h.

double CMOOSObservation::m_dfSV

sound velocity..

Definition at line 112 of file MOOSObservation.h.

double CMOOSObservation::m_dfTime

Definition at line 109 of file MOOSObservation.h.

Type CMOOSObservation::m_eType

Definition at line 107 of file MOOSObservation.h.

CLBLMaths CMOOSObservation::m_LBLMaths

Definition at line 77 of file MOOSObservation.h.

int CMOOSObservation::m_nChan

Definition at line 129 of file MOOSObservation.h.

int CMOOSObservation::m_nDim

Definition at line 153 of file MOOSObservation.h.

int CMOOSObservation::m_nRow

Definition at line 150 of file MOOSObservation.h.

CMOOSNavSensor* CMOOSObservation::m_pInterrogateSensor

Definition at line 145 of file MOOSObservation.h.

CMOOSNavSensor* CMOOSObservation::m_pRespondingSensor

sensors involved in LBL two way range likely to be on different vehicles!

Definition at line 144 of file MOOSObservation.h.

Matrix* CMOOSObservation::m_pXEvaluate

Definition at line 147 of file MOOSObservation.h.

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

• /home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSObservation.h
• /home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSObservation.cpp