COutputTransformer Class Reference

The class implements a SW component that converts internal signals to customer-specific signals. More...

Inheritance diagram for COutputTransformer:

Public Member Functions
void	Init () override
bool	IsInitialized () override
void	TransformImuSignals ()
	A runnable that transforms IMU signals to customer-defined vehicle frame.
void	TransformOrientation ()
	A runnable that computes orientation of the customer-defined vehicle frame The function derives the orientation from estimated orientation of the BAHRS body frame and customer-configured rotation from the BAHRS body frame to the vehicle frame.
void	TransformMagnetometerInput ()
	A runnable that transforms magnetometer measurements to vehicle frame.
Public Member Functions inherited from CSoftwareComponent< COutputTransformer, 1U >
	CSoftwareComponent (CSoftwareComponent &)=delete
	CSoftwareComponent (CSoftwareComponent &&)=delete
CSoftwareComponent &	operator= (const CSoftwareComponent &orOther)=delete
CSoftwareComponent &	operator= (CSoftwareComponent &&orOther)=delete
virtual void	Init ()=0
virtual bool	IsInitialized ()=0

Private Member Functions
	COutputTransformer (COutputTransformer &)=delete
	COutputTransformer (COutputTransformer &&)=delete
COutputTransformer &	operator= (const COutputTransformer &orOther)=delete
COutputTransformer &	operator= (COutputTransformer &&orOther)=delete
	COutputTransformer ()=default
	~COutputTransformer ()=default

Static Private Member Functions
static COutputTransformer &	getInstanceImpl (unsigned uInstanceIndex)
template<CImuDataAfterMonitor::EScalarSignals eSignal1, CImuDataAfterMonitor::EScalarSignals eSignal2, CImuDataAfterMonitor::EScalarSignals eSignal3>
static CSerialProtocol::ESignalHealthInfo	buildHealthInfoForVectorSignal (const CImuDataAfterMonitor &korImuData)
	Checks if a 3D signal composed of scalar values that are provided by the monitor, is valid and safe.

Private Attributes
CQuaternion	oQuatVehicleToDevice_
Eigen::Matrix3f	oDcmDeviceToVehicle_ { Eigen::Matrix3f::Identity() }
bool	bIsInitialized_ { false }

Friends
class	CSoftwareComponent< COutputTransformer, 1U >

Additional Inherited Members
Static Public Member Functions inherited from CSoftwareComponent< COutputTransformer, 1U >
static COutputTransformer &	GetInstance (unsigned uInstanceIndex=0U)
Static Public Attributes inherited from CSoftwareComponent< COutputTransformer, 1U >
static constexpr unsigned	skuInstanceCount_
Protected Member Functions inherited from CSoftwareComponent< COutputTransformer, 1U >
	CSoftwareComponent ()=default
	~CSoftwareComponent ()=default

Detailed Description

The class implements a SW component that converts internal signals to customer-specific signals.

Constructor & Destructor Documentation

COutputTransformer() [1/3]

COutputTransformer::COutputTransformer ( COutputTransformer &  )

privatedelete

COutputTransformer() [2/3]

COutputTransformer::COutputTransformer ( COutputTransformer &&  )

privatedelete

COutputTransformer() [3/3]

COutputTransformer::COutputTransformer ( )

privatedefault

~COutputTransformer()

COutputTransformer::~COutputTransformer ( )

privatedefault

Member Function Documentation

buildHealthInfoForVectorSignal()

template<CImuDataAfterMonitor::EScalarSignals eSignal1, CImuDataAfterMonitor::EScalarSignals eSignal2, CImuDataAfterMonitor::EScalarSignals eSignal3>

CSerialProtocol::ESignalHealthInfo COutputTransformer::buildHealthInfoForVectorSignal ( const CImuDataAfterMonitor &  korImuData )

staticprivate

Checks if a 3D signal composed of scalar values that are provided by the monitor, is valid and safe.

Template Parameters

eSignal1	Label of the 1st scalar signal.
eSignal2	Label of the 2nd scalar signal.
eSignal3	Label of the 3rd scalar signal.

Parameters

korImuData

Output of the IMU monitor.

Returns

Health information.

getInstanceImpl()

COutputTransformer & COutputTransformer::getInstanceImpl ( unsigned  uInstanceIndex )

staticprivate

Init()

void COutputTransformer::Init ( )

overridevirtual

Initialize the software component.

Implements CSoftwareComponent< COutputTransformer, 1U >.

IsInitialized()

bool COutputTransformer::IsInitialized ( )

overridevirtual

Get initialization status of the software component.

Returns

True – the component is initialized, false otherwise.

Implements CSoftwareComponent< COutputTransformer, 1U >.

operator=() [1/2]

COutputTransformer & COutputTransformer::operator= ( const COutputTransformer &  orOther )

privatedelete

operator=() [2/2]

COutputTransformer & COutputTransformer::operator= ( COutputTransformer &&  orOther )

privatedelete

TransformImuSignals()

void COutputTransformer::TransformImuSignals

(

)

A runnable that transforms IMU signals to customer-defined vehicle frame.

TransformMagnetometerInput()

void COutputTransformer::TransformMagnetometerInput

(

)

A runnable that transforms magnetometer measurements to vehicle frame.

TransformOrientation()

void COutputTransformer::TransformOrientation

(

)

A runnable that computes orientation of the customer-defined vehicle frame The function derives the orientation from estimated orientation of the BAHRS body frame and customer-configured rotation from the BAHRS body frame to the vehicle frame.

Friends And Related Function Documentation

CSoftwareComponent< COutputTransformer, 1U >

friend class CSoftwareComponent< COutputTransformer, 1U >

friend

Member Data Documentation

bIsInitialized_

bool COutputTransformer::bIsInitialized_ { false }

private

oDcmDeviceToVehicle_

Eigen::Matrix3f COutputTransformer::oDcmDeviceToVehicle_ { Eigen::Matrix3f::Identity() }

private

oQuatVehicleToDevice_

CQuaternion COutputTransformer::oQuatVehicleToDevice_

private

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

• COutputTransformer.h
• COutputTransformer.cpp