Struct openpilot::common::ext_kal_fltr::GPS

source ·

pub struct GPS {
    pub earth_r: f64,
    pub obs_model: Array2<f64>,
    pub covar: Array2<f64>,
    pub init_lat: f64,
    pub init_lon: f64,
}

Expand description

Represents a GPS sensor with specific parameters.

Fields§

§earth_r: f64

Earth radius constant for distance calculations.

§obs_model: Array2<f64>

Observation model matrix for the GPS sensor.

§covar: Array2<f64>

Covariance matrix for the GPS sensor.

§init_lat: f64

Initial latitude for position calculations.

§init_lon: f64

Initial longitude for position calculations.

Implementations§

source §

impl GPS

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pub fn new(xy_idx: (usize, usize), dims: usize, var: f64) -> Self

Creates a new GPS instance with specified parameters.

§Arguments

xy_idx - Tuple representing the indices of X and Y coordinates in the observation model matrix.
dims - Number of dimensions for the observation model.
var - Variance for the covariance matrix.

§Returns

(GPS): A new GPS instance.

§Examples

use openpilot::common::ext_kal_fltr::GPS;

let xy_idx = (0, 1);
let dims = 2;
let var = 1e4;
let gps = GPS::new(xy_idx, dims, var);

source

pub fn init_pos(&mut self, latlon: &[f64])

Initializes the GPS sensor with the given latitude and longitude.

§Arguments

latlon - Array containing latitude and longitude values.

§Examples

use openpilot::common::ext_kal_fltr::GPS;

let mut gps = GPS::new((0, 1), 2, 1e4);
gps.init_pos(&[37.7749, -122.4194]);

source

pub fn _haversine(&self, lat1: f64, lon1: f64, lat2: f64, lon2: f64) -> f64

Calculates the Haversine distance between two points on the Earth’s surface.

§Arguments

lat1 - Latitude of the first point.
lon1 - Longitude of the first point.
lat2 - Latitude of the second point.
lon2 - Longitude of the second point.

§Returns

(f64): Haversine distance between the two points.

§Examples

use openpilot::common::ext_kal_fltr::GPS;

let gps = GPS::new((0, 1), 2, 1e4);
let distance = gps._haversine(37.7749, -122.4194, 38.0000, -121.0000);

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pub fn convert_deg2m(&self, lat: f64, lon: f64) -> (f64, f64)

Converts latitude and longitude coordinates to meters.

§Arguments

lat - Latitude coordinate.
lon - Longitude coordinate.

§Returns

((f64, f64)): Tuple containing converted X and Y coordinates in meters.

§Examples

use openpilot::common::ext_kal_fltr::GPS;

let gps = GPS::new((0, 1), 2, 1e4);
let (xs, ys) = gps.convert_deg2m(37.7749, -122.4194);

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pub fn _convert_m2deg(&self, xs: f64, ys: f64) -> (f64, f64)

Converts X and Y coordinates in meters to latitude and longitude coordinates.

§Arguments

xs - X coordinate in meters.
ys - Y coordinate in meters.

§Returns

((f64, f64)): Tuple containing converted latitude and longitude coordinates.

§Examples

use openpilot::common::ext_kal_fltr::GPS;

let gps = GPS::new((0, 1), 2, 1e4);
let (lat, lon) = gps._convert_m2deg(100.0, 200.0);

source

pub fn read(&self, latlon: &[f64], accuracy: Option<f64>) -> SensorReading

Reads GPS data and returns a SensorReading instance.

§Arguments

latlon - Array containing latitude and longitude values.
accuracy - Optional accuracy value. If not provided, the default covariance of the sensor is used.

§Returns

(SensorReading): A new SensorReading instance based on GPS data and covariance.

§Examples

use openpilot::common::ext_kal_fltr::GPS;

let mut gps = GPS::new((0, 1), 2, 1e4);
gps.init_pos(&[37.7749, -122.4194]);
let sensor_reading = gps.read(&[37.7749, -122.4194], Some(10.0));