Auxiliary data structure to check validity of AHRS calibration data. More...

#include <JAHRSCalibrationToolkit.hh>

Public Types
typedef JTOOLS::JRange< double >	range_type

Public Member Functions
	JAHRSCalibrationValidity ()
	Default constructor. More...

bool	operator() (const JAHRSCalibration &calibration) const
	Check validity of AHRS calibration data. More...

Public Attributes
range_type	ACC_OFFSET_X

range_type	ACC_OFFSET_Y

range_type	ACC_OFFSET_Z

range_type	ACC_ROT [3][3]

range_type	MAG_OFFSET_X

range_type	MAG_OFFSET_Y

range_type	MAG_OFFSET_Z

range_type	MAG_ROT [3][3]

Detailed Description

Auxiliary data structure to check validity of AHRS calibration data.

Definition at line 114 of file JAHRSCalibrationToolkit.hh.

Member Typedef Documentation

typedef JTOOLS::JRange<double> JDATABASE::JAHRSCalibrationValidity::range_type

Definition at line 116 of file JAHRSCalibrationToolkit.hh.

Constructor & Destructor Documentation

JDATABASE::JAHRSCalibrationValidity::JAHRSCalibrationValidity ( )

inline

Default constructor.

This constructor sets default ranges of acceptance of AHRS calibration values.

Definition at line 123 of file JAHRSCalibrationToolkit.hh.

     {
       ACC_OFFSET_X  = range_type(-1.0, +1.0);
       ACC_OFFSET_Y  = range_type(-1.0, +1.0);
       ACC_OFFSET_Z  = range_type(-1.0, +1.0);
 
       ACC_ROT[0][0] = range_type(-1.8, +1.8);  ACC_ROT[0][1] = range_type(-1.0, +1.0);  ACC_ROT[0][2] = range_type(-1.0, +1.0);
       ACC_ROT[1][0] = range_type(-1.0, +1.0);  ACC_ROT[1][1] = range_type(+0.6, +1.8);  ACC_ROT[1][2] = range_type(-1.0, +1.0);
       ACC_ROT[2][0] = range_type(-1.0, +1.0);  ACC_ROT[2][1] = range_type(-1.0, +1.0);  ACC_ROT[2][2] = range_type(+0.6, +1.8);
     
       MAG_OFFSET_X  = range_type(-1.0, +1.0);
       MAG_OFFSET_Y  = range_type(-1.0, +1.0);
       MAG_OFFSET_Z  = range_type(-1.0, +1.0);
 
       MAG_ROT[0][0] = range_type(-1.8, +1.8);  MAG_ROT[0][1] = range_type(-1.0, +1.0);  MAG_ROT[0][2] = range_type(-1.0, +1.0);
       MAG_ROT[1][0] = range_type(-1.0, +1.0);  MAG_ROT[1][1] = range_type(+0.6, +1.8);  MAG_ROT[1][2] = range_type(-1.0, +1.0);
       MAG_ROT[2][0] = range_type(-1.0, +1.0);  MAG_ROT[2][1] = range_type(-1.0, +1.0);  MAG_ROT[2][2] = range_type(+0.6, +1.8);    
     }

Member Function Documentation

bool JDATABASE::JAHRSCalibrationValidity::operator() ( const JAHRSCalibration & calibration ) const

inline

Check validity of AHRS calibration data.

Parameters

calibration AHRS calibration

Returns: true if valid; else false

Definition at line 149 of file JAHRSCalibrationToolkit.hh.

     {
       return (ACC_OFFSET_X(calibration.ACC_OFFSET_X)   &&
               ACC_OFFSET_Y(calibration.ACC_OFFSET_Y)   &&
               ACC_OFFSET_Z(calibration.ACC_OFFSET_Z)   &&
             
               ACC_ROT[0][0](calibration.ACC_ROT_XX)  &&  ACC_ROT[0][1](calibration.ACC_ROT_XY)  &&  ACC_ROT[0][2](calibration.ACC_ROT_XZ)  &&
               ACC_ROT[1][0](calibration.ACC_ROT_YX)  &&  ACC_ROT[1][1](calibration.ACC_ROT_YY)  &&  ACC_ROT[1][2](calibration.ACC_ROT_YZ)  &&
               ACC_ROT[2][0](calibration.ACC_ROT_ZX)  &&  ACC_ROT[2][1](calibration.ACC_ROT_ZY)  &&  ACC_ROT[2][2](calibration.ACC_ROT_ZZ)  &&
 
               MAG_OFFSET_X(0.5 * (calibration.MAG_XMIN + calibration.MAG_XMAX))  &&
               MAG_OFFSET_Y(0.5 * (calibration.MAG_YMIN + calibration.MAG_YMAX))  &&
               MAG_OFFSET_Z(0.5 * (calibration.MAG_ZMIN + calibration.MAG_ZMAX))  &&
               
               MAG_ROT[0][0](calibration.MAG_ROT_XX)  &&  MAG_ROT[0][1](calibration.MAG_ROT_XY)  &&  MAG_ROT[0][2](calibration.MAG_ROT_XZ)  &&
               MAG_ROT[1][0](calibration.MAG_ROT_YX)  &&  MAG_ROT[1][1](calibration.MAG_ROT_YY)  &&  MAG_ROT[1][2](calibration.MAG_ROT_YZ)  &&
               MAG_ROT[2][0](calibration.MAG_ROT_ZX)  &&  MAG_ROT[2][1](calibration.MAG_ROT_ZY)  &&  MAG_ROT[2][2](calibration.MAG_ROT_ZZ));
     }