Struct StrapdownState

pub struct StrapdownState {
    pub position: Vector3<f64>,
    pub velocity: Vector3<f64>,
    pub attitude: Rotation3<f64>,
}

Basic structure for holding the strapdown mechanization state in the form of position, velocity, and attitude. Attitude is stored in matrix form (rotation or direction cosine matrix) and position and velocity are stored as vectors. The order or the states depends on the coordinate system used. The struct does not care, but the coordinate system used will determine which functions you should use. Default is NED but nonetheless must be assigned. For compuational simplicity, latitude and logitude are stored as radians.

Fields

position: Vector3<f64>

velocity: Vector3<f64>

attitude: Rotation3<f64>

Implementations

impl StrapdownState

pub fn new() -> StrapdownState

Create a new StrapdownState with all zeros

pub fn new_from( position: Vector3<f64>, velocity: Vector3<f64>, attitude: Vector3<f64>, ) -> StrapdownState

Create a new StrapdownState from a position, velocity, and attitude vector, where the attitude vector is in the form of Euler angles in degrees

pub fn new_from_vector(state: SVector<f64, 9>) -> StrapdownState

Convert a one dimensional vector to a StrapdownState

The vector is in the form of: (pn, pe, pd, v_n, v_e, v_d, roll, pitch, yaw) where the angles for attitude, latitude (pn), and longitude (pe) are in radians.

pub fn forward(&mut self, imu_data: &IMUData, dt: f64)

NED form of the forward kinematics equations. Corresponds to section 5.4 Local-Navigation Frame Equations.

pub fn to_vector(&self, in_degrees: bool) -> SVector<f64, 9>

ENU form of the forward kinematics equations. Corresponds to section 5.4 Local-Navigation Frame Equations. Mathematrically identical to NED, but the coordinate order in the data structures is different. Attitude is still specified by a roll-pitch-yaw Euler angle sequence. Convert the StrapdownState to a one dimensional vector The vector is in the form of: [pn, pe, pd, v_n, v_e, v_d, phi, theta, psi]

Trait Implementations

impl Clone for StrapdownState

fn clone(&self) -> StrapdownState

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for StrapdownState

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Copy for StrapdownState