PositionalTrackingFusionParameters Class Reference

Holds the options used for initializing the positional tracking fusion module. More...

Functions
bool	save (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...
bool	load (String filename, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Loads a set of parameters from the values contained in a previously saved file. More...
bool	encode (String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...
bool	decode (const String &serialized_content, SERIALIZATION_FORMAT format=SERIALIZATION_FORMAT::JSON)
	Fill the structure from the serialized json object contained in the input string. More...
bool	operator== (const PositionalTrackingFusionParameters &param1) const
	Comparison operator ==. More...
bool	operator!= (const PositionalTrackingFusionParameters &param1) const
	Comparison operator !=. More...

Attributes
bool	enable_GNSS_fusion = false
	This attribute is responsible for enabling or not GNSS positional tracking fusion. More...
GNSSCalibrationParameters	gnss_calibration_parameters
	Control the VIO / GNSS calibration process. More...
Transform	base_footprint_to_world_transform
	Position and orientation of the base footprint with respect to the user world. This transform represents a basis change from base footprint coordinate frame to user world coordinate frame. More...
Transform	base_footprint_to_baselink_transform
	Position and orientation of the base footprint with respect to the baselink. This transform represents a basis change from base footprint coordinate frame to baselink coordinate frame. More...
bool	set_gravity_as_origin = false
	Whether to override 2 of the 3 rotations from base_footprint_to_world_transform using the IMU gravity. More...

Detailed Description

Holds the options used for initializing the positional tracking fusion module.

Functions

save()

bool save	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename

: Name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns

True if the file was successfully saved, otherwise false.

Warning

For security reasons, the file must not already exist.

In case a file already exists, the method will return false and existing file will not be updated.

load()

bool load	(	String	filename,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename

: Path to the file from which the parameters will be loaded (extension '.yml' will be added at the end of the filename if not detected).

Returns

True if the file was successfully loaded, otherwise false.

encode()

bool encode	(	String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)		const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content	output string containing the JSON Object
format	serialization format, default is JSON

Returns

True if file was successfully saved, otherwise false.

decode()

bool decode	(	const String &	serialized_content,
		SERIALIZATION_FORMAT	format = SERIALIZATION_FORMAT::JSON
	)

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content	input string containing the JSON Object
format	serialization format, default is JSON

Returns

True if the decoding was successful, otherwise false.

operator==()

bool operator==

(

const PositionalTrackingFusionParameters &

param1

)

const

Comparison operator ==.

Parameters

PositionalTrackingFusionParameters

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const PositionalTrackingFusionParameters &

param1

)

const

Comparison operator !=.

Parameters

PositionalTrackingFusionParameters

to compare

Returns

true if the two struct are different

Variables

enable_GNSS_fusion

bool enable_GNSS_fusion = false

This attribute is responsible for enabling or not GNSS positional tracking fusion.

gnss_calibration_parameters

GNSSCalibrationParameters gnss_calibration_parameters

Control the VIO / GNSS calibration process.

base_footprint_to_world_transform

Transform base_footprint_to_world_transform

Position and orientation of the base footprint with respect to the user world. This transform represents a basis change from base footprint coordinate frame to user world coordinate frame.

Note

base footprint is the coordinate frame attached to the projected baselink coordinate frame on the ground. It is generally a constant offset between baselink and the ground. Fusion uses the base footprint coordinate frame to determine where is the ground with respect to the tracked baselink position and orientation. baselink is the root coordinate frame of the robot. Fusion configuration file must give the position and orientation of each camera with respect to the baselink

base_footprint_to_baselink_transform

Transform base_footprint_to_baselink_transform

Position and orientation of the base footprint with respect to the baselink. This transform represents a basis change from base footprint coordinate frame to baselink coordinate frame.

Note

This transform is used by the Fusion to determine where is the ground with respect to the baselink coordinate frame which is the root coordinate frame of Fusion.

set_gravity_as_origin

bool set_gravity_as_origin = false

Whether to override 2 of the 3 rotations from base_footprint_to_world_transform using the IMU gravity.