SensorFrame Class Reference

#include <SensorFrame.h>

Public Member Functions
	SensorFrame (ISimObjectCreator *creator)
	SensorFrame (const double mountOffset[3], const double mountDirection[3])
void	SensorPosition (double T, const double *X, double out[3]) const
void	BeamDirection (double T, const double *X, double out[3]) const
void	SensorPositionOf (const double bodyPosition[3], const double bodyQuaternion[4], double out[3]) const
void	BeamDirectionOf (const double bodyQuaternion[4], double out[3]) const
const double *	MountOffset () const
	The mounting offset in the body frame, m.
const double *	MountDirection () const
	The beam direction in the body frame.

Detailed Description

Locates a sensor that is rigidly mounted on a moving body.

Every AUV sensor needs the same four things: the carrier body's position and attitude, and its own mounting offset and beam direction in the body frame. A sensor holds one SensorFrame instead of repeating that plumbing.

The constructor creates the Pos(3) and Quater(4) inports on the owning SimObject and reads the MountOffset(3) and MountDirection(3) parameters, so the owner only has to keep the member alive.

The quaternion convention is scalar first, [q0,q1,q2,q3] = [w,x,y,z], which is what the FhSim 6-DOF bodies publish. The quaternion is normalised defensively on every use; if it ever deviates from unit length by more than kQuaternionTolerance a single warning is emitted for the lifetime of the object, because a drifting quaternion is a modelling fault worth one message and not worth a message per time step.

Note

This is a helper, not a SimObject, so it has no @group block and appears in no model list.

Constructor & Destructor Documentation

SensorFrame() [1/2]

SensorFrame::SensorFrame ( ISimObjectCreator *  creator )

explicit

Registers the body ports and reads the mounting parameters.

Parameters

creator

The creator of the owning SimObject.

SensorFrame() [2/2]

SensorFrame::SensorFrame	(	const double	mountOffset[3],
		const double	mountDirection[3]
	)

Constructs a frame with the mounting geometry given directly.

No ports are registered, so SensorPosition and BeamDirection must not be called; use SensorPositionOf and BeamDirectionOf instead. This constructor exists so the geometry can be unit tested without a host simulation.

Parameters

mountOffset	Sensor position in the body frame, m.
mountDirection	Beam direction in the body frame, need not be unit.

Member Function Documentation

BeamDirection()

void SensorFrame::BeamDirection	(	double	T,
		const double *	X,
		double	out[3]
	)		const

Calculates the beam direction in NED from the body ports.

Parameters

T	The simulation time.
X	The state vector.
out	The beam direction in NED, same length as MountDirection.

BeamDirectionOf()

void SensorFrame::BeamDirectionOf	(	const double	bodyQuaternion[4],
		double	out[3]
	)		const

Calculates the beam direction in NED for a given body attitude.

Parameters

bodyQuaternion	The body attitude, [q0,q1,q2,q3].
out	The beam direction in NED.

SensorPosition()

void SensorFrame::SensorPosition	(	double	T,
		const double *	X,
		double	out[3]
	)		const

Calculates the sensor position in NED from the body ports.

Parameters

T	The simulation time.
X	The state vector.
out	The sensor position in NED, m.

SensorPositionOf()

void SensorFrame::SensorPositionOf	(	const double	bodyPosition[3],
		const double	bodyQuaternion[4],
		double	out[3]
	)		const

Calculates the sensor position in NED for a given body pose.

Parameters

bodyPosition	The body origin in NED, m.
bodyQuaternion	The body attitude, [q0,q1,q2,q3].
out	The sensor position in NED, m.

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

• /update_root/webfhsim/reloadrepos/fhsim_fishery/src/auv/SensorFrame.h