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>

Inherits chrono::sensor::ChDynamicSensor.

Public Member Functions
	ChGPSSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, ChVector3d gps_reference, std::shared_ptr< ChNoiseModel > noise_model)
	Class constructor. More...
	~ChGPSSensor ()
	Class destructor.
virtual void	PushKeyFrame ()
virtual void	ClearKeyFrames ()
const ChVector3d	GetGPSReference () const
	Get the GPS reference location.

Friends
class	ChFilterGPSUpdate

Constructor & Destructor Documentation

ChGPSSensor()

CH_SENSOR_API chrono::sensor::ChGPSSensor::ChGPSSensor	(	std::shared_ptr< chrono::ChBody >	parent,
		float	updateRate,
		chrono::ChFrame< double >	offsetPose,
		ChVector3d	gps_reference,
		std::shared_ptr< ChNoiseModel >	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.
lag	Lag time between end of data collection and when data becomes available to the user.
collection_window	Collection time over which the sensor should collect data from the simulation.
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.

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

• /builds/uwsbel/chrono/src/chrono_sensor/sensors/ChGPSSensor.h
• /builds/uwsbel/chrono/src/chrono_sensor/sensors/ChGPSSensor.cpp