magnetic_model::MagneticModel Class Reference

Earth magnetic model. More...

#include <magnetic_model.h>

Inheritance diagram for magnetic_model::MagneticModel:

Public Member Functions
virtual cras::expected< MagneticField, std::string >	getMagneticField (const sensor_msgs::NavSatFix &fix, const ros::Time &stamp) const
	Get the magnetic field vector on the provided place on Earth. More...
virtual cras::expected< MagneticFieldComponentProperties, std::string >	getMagneticFieldComponents (const MagneticField &field, const ros::Time &stamp) const
	Get the components of the measured magnetic field. More...
virtual cras::expected< MagneticFieldComponentProperties, std::string >	getMagneticFieldComponents (const sensor_msgs::NavSatFix &fix, const ros::Time &stamp) const
	Get the magnetic field components on the provided place on Earth. More...
virtual bool	isValid (const ros::Time &time) const
	Tell whether this model is valid at the given time instant. More...
virtual bool	isValid (int year) const
	Tell whether this model is valid at the given year. More...
	MagneticModel (const cras::LogHelperPtr &log, const std::string &name, const std::string &modelPath, bool strict)
	Create the magnetic model. More...
virtual	~MagneticModel ()
Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	HasLogger (const ::cras::LogHelperPtr &log)
void	setCrasLogger (const ::cras::LogHelperPtr &log)

Static Public Attributes
static const char *	WMM2010
	WMM 2010 model name. More...
static const char *	WMM2015
	WMM 2015v2 model name. More...
static const char *	WMM2020
	WMM 2020 model name. More...
static const char *	WMM2025
	WMM 2025 model name. More...

Protected Attributes
std::unique_ptr< MagneticModelPrivate >	data
	PIMPL data. More...
bool	strict {true}
	If true, the magnetic model will fail if it is used outside its bounds. More...
Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

Earth magnetic model.

Definition at line 61 of file magnetic_model.h.

Constructor & Destructor Documentation

MagneticModel()

magnetic_model::MagneticModel::MagneticModel	(	const cras::LogHelperPtr &	log,
		const std::string &	name,
		const std::string &	modelPath,
		bool	strict
	)

Create the magnetic model.

Parameters

[in]	log	The logger.
[in]	name	Name of the model (e.g. "wmm2020").
[in]	modelPath	Path to the folder with stored models. If empty, a default system location will be used.
[in]	strict	Whether to fail if the magnetic model is used outside its natural validity bounds.

~MagneticModel()

virtual magnetic_model::MagneticModel::~MagneticModel ( )

virtual

Member Function Documentation

getMagneticField()

virtual cras::expected<MagneticField, std::string> magnetic_model::MagneticModel::getMagneticField ( const sensor_msgs::NavSatFix &  fix, const ros::Time &  stamp  ) const

virtual

Get the magnetic field vector on the provided place on Earth.

Parameters

[in]	fix	The place for which magnetic field is queried. Timestamp from the message is ignored.
[in]	stamp	The time for which magnetic field is queried.

Returns

The magnetic field.

getMagneticFieldComponents() [1/2]

virtual cras::expected<MagneticFieldComponentProperties, std::string> magnetic_model::MagneticModel::getMagneticFieldComponents ( const MagneticField &  field, const ros::Time &  stamp  ) const

virtual

Get the components of the measured magnetic field.

Parameters

[in]	field	The measured magnetic field.
[in]	stamp	The time for which magnetic field components are queried.

Returns

The magnetic field components.

getMagneticFieldComponents() [2/2]

virtual cras::expected<MagneticFieldComponentProperties, std::string> magnetic_model::MagneticModel::getMagneticFieldComponents ( const sensor_msgs::NavSatFix &  fix, const ros::Time &  stamp  ) const

virtual

Get the magnetic field components on the provided place on Earth.

Parameters

[in]	fix	The place for which magnetic field components are queried. Timestamp from the message is ignored.
[in]	stamp	The time for which magnetic field components are queried.

Returns

The magnetic field components.

isValid() [1/2]

virtual bool magnetic_model::MagneticModel::isValid ( const ros::Time &  time ) const

virtual

Tell whether this model is valid at the given time instant.

Parameters

[in]

time

The time of validity.

Returns

Whether the model is valid (regardless of strictness).

isValid() [2/2]

virtual bool magnetic_model::MagneticModel::isValid ( int  year ) const

virtual

Tell whether this model is valid at the given year.

Parameters

[in]

year

The year of validity.

Returns

Whether the model is valid (regardless of strictness).

Member Data Documentation

data

std::unique_ptr<MagneticModelPrivate> magnetic_model::MagneticModel::data

protected

PIMPL data.

Definition at line 126 of file magnetic_model.h.

strict

bool magnetic_model::MagneticModel::strict {true}

protected

If true, the magnetic model will fail if it is used outside its bounds.

Definition at line 123 of file magnetic_model.h.

WMM2010

const char* magnetic_model::MagneticModel::WMM2010

static

WMM 2010 model name.

Definition at line 64 of file magnetic_model.h.

WMM2015

const char* magnetic_model::MagneticModel::WMM2015

static

WMM 2015v2 model name.

Definition at line 65 of file magnetic_model.h.

WMM2020

const char* magnetic_model::MagneticModel::WMM2020

static

WMM 2020 model name.

Definition at line 66 of file magnetic_model.h.

WMM2025

const char* magnetic_model::MagneticModel::WMM2025

static

WMM 2025 model name.

Definition at line 67 of file magnetic_model.h.

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

• magnetic_model.h