Class MagneticModelManager

Class Documentation

class MagneticModelManager

Earth magnetic model.

Public Types

using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<NodeClockInterface, NodeLoggingInterface>

Public Functions

explicit MagneticModelManager(RequiredInterfaces node, const std::optional<std::string> &modelPath = {})

Create magnetic model manager.

Parameters:

node – [in] The node to use.
modelPath – [in] Path to the folder with stored models. If nullopt, the default data distributed with this package will be used. If empty string, a default system location will be used. The default system location is determined by GeographicLib and can be influenced by setting environment variables GEOGRAPHICLIB_MAGNETIC_PATH or GEOGRAPHICLIB_DATA.

std::string getModelPath() const

Get the model path.

Returns:: Path to the folder with stored models. If empty, a default system location will be used.

void setModelPath(const std::optional<std::string> &modelPath)

Set the path to the folder with stored models.

Parameters:: modelPath – [in] Path to the folder with stored models. If nullopt, the default data distributed with this package will be used. If empty string, a default system location will be used. The default system location is determined by GeographicLib and can be influenced by setting environment variables GEOGRAPHICLIB_MAGNETIC_PATH or GEOGRAPHICLIB_DATA.

virtual std::string getBestMagneticModelName(const rclcpp::Time &date) const

Get the best magnetic model for the given date.

Parameters:: date – [in] The date in question.
Returns:: Name of the best magnetic model. If forcedMagneticModelName is non-empty, this value is always returned.

virtual cras::expected<std::shared_ptr<MagneticModel>, std::string> getMagneticModel(const rclcpp::Time &stamp, bool strict) const

Get the most suitable magnetic model for the given year.

Parameters:

stamp – [in] The time for which model should be returned.
strict – [in] Whether the returned model should fail if data outside its validity range are queried.

Returns:

The magnetic model or error if there is no suitable model.

virtual cras::expected<std::shared_ptr<MagneticModel>, std::string> getMagneticModel(const std::string &name, bool strict) const

Get the magnetic model with the given name.

Parameters:

name – [in] Name of the model. Check MagneticModel constants to see possible values.
strict – [in] Whether the returned model should fail if data outside its validity range are queried.

Returns:

The magnetic model or error if it cannot be found.

Protected Attributes