blunux::observer::IObserverState Class Reference

Interface for observing the state of a system. More...

#include <IObserverState.hpp>

Public Member Functions
virtual Eigen::Vector3d	getGlobalAttitudeEuler () const =0
	Get the global attitude in Euler angles.
virtual double	getGlobalHeading () const =0
	Get the global heading angle.
virtual Eigen::Vector3d	getLocalAttitudeEuler () const =0
	Get the local attitude in Euler angles.
virtual Eigen::Vector3d	getLocalOrientationAxis () const =0
	Get the local orientation axis.
virtual Eigen::Vector3d	getGlobalalOrientationAxis () const =0
	Get the global orientation axis.
virtual StateEstimates	getStateEstimates () const =0
	Get state estimates.
virtual void	add_imu_callback (std::function< void(const imu::ImuData &)> cb)=0
virtual void	add_dive_state_callback (std::function< void(const DiveStatus &)> cb)=0
virtual void	add_dive_time_callback (std::function< void(const uint16_t &)> cb)=0
virtual void	clear_callbacks ()=0
virtual Eigen::Vector3d	getAccData (int num) const =0
virtual InitialMotionState	getInitialMotionState () const =0
	Check if the drone is stationary since boot.
virtual bool	isCompassFullCalibrationValid () const =0
	Check if the calibration is valid.

Detailed Description

Interface for observing the state of a system.

This interface defines methods for observing various aspects of the state of a system, such as attitude, orientation, and state estimates.

Member Function Documentation

getGlobalalOrientationAxis()

virtual Eigen::Vector3d blunux::observer::IObserverState::getGlobalalOrientationAxis ( ) const

pure virtual

Get the global orientation axis.

Returns

A 3D vector representing the global orientation axis.

getGlobalAttitudeEuler()

virtual Eigen::Vector3d blunux::observer::IObserverState::getGlobalAttitudeEuler ( ) const

pure virtual

Get the global attitude in Euler angles.

Returns

A 3D vector representing the global attitude in Euler angles (roll, pitch, yaw).

getGlobalHeading()

virtual double blunux::observer::IObserverState::getGlobalHeading ( ) const

pure virtual

Get the global heading angle.

Returns

The global heading angle in radians.

getInitialMotionState()

virtual InitialMotionState blunux::observer::IObserverState::getInitialMotionState ( ) const

pure virtual

Check if the drone is stationary since boot.

Returns

bool true if the drone is stationary since boot

getLocalAttitudeEuler()

virtual Eigen::Vector3d blunux::observer::IObserverState::getLocalAttitudeEuler ( ) const

pure virtual

Get the local attitude in Euler angles.

Returns

A 3D vector representing the local attitude in Euler angles (roll, pitch, yaw).

getLocalOrientationAxis()

virtual Eigen::Vector3d blunux::observer::IObserverState::getLocalOrientationAxis ( ) const

pure virtual

Get the local orientation axis.

Returns

A 3D vector representing the local orientation axis.

getStateEstimates()

virtual StateEstimates blunux::observer::IObserverState::getStateEstimates ( ) const

pure virtual

Get state estimates.

Returns

State estimates including depth, depth rate, surface level, heading, and yaw rate.

isCompassFullCalibrationValid()

virtual bool blunux::observer::IObserverState::isCompassFullCalibrationValid ( ) const

pure virtual

Check if the calibration is valid.

Returns

bool true if the calibration is valid

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

• /github/workspace/src/observer/IObserverState.hpp