clockwerk::CalcFocalPlaneAnglesMatrix< T > Class Template Reference

Measurement class to calculate focal plane angle sensitivity matrix from tgt and observer state. More...

#include <CalcFocalPlaneAnglesMatrix.hpp>

Inheritance diagram for clockwerk::CalcFocalPlaneAnglesMatrix< T >:

Collaboration diagram for clockwerk::CalcFocalPlaneAnglesMatrix< T >:

Public Member Functions
int	calculateMeasurements (T time, const std::array< T, 6 > &tar_state, const std::array< T, 3 > &obs_state, std::array< T, 2 *6 > &out_measurements)
	Function to focal plane angles.
virtual int	calculateMeasurements (T time, const std::array< T, N > &tar_state, const std::array< T, O > &obs_state, std::array< T, M > &out_measurements)
	Function to calculate range and range rate from current state of system.

Detailed Description

template<typename T>
class clockwerk::CalcFocalPlaneAnglesMatrix< T >

Measurement class to calculate focal plane angle sensitivity matrix from tgt and observer state.

This function calculates focal plane angle sensitivity matrix for a given target in an image frame using the known position of the imager and target. The focal plane angles are defined as follows: alpha = atan([xtgt - xobs]/[ztgt - zobs]) beta = atan([ytgt - yobs]/[ztgt - zobs])

Where target and observer states are differenced to generate the target state in the focal frame. The focal frame is defined as: Centered in the center of the reference image X is "up" in the image Y is "right" in the image Z is "into" the image completing the right hand frame

|-------------------—| | x^ | | |-->y | | | |-------------------—|

The return is a flattened "H" matrix with values: [dalpha/dx dalpha/dy dalpha/dz 0 0 0] [dbeta/dx dbeta/dy dbeta/dz 0 0 0]

Member Function Documentation

calculateMeasurements() [1/2]

template<typename T >

int clockwerk::CalcFocalPlaneAnglesMatrix< T >::calculateMeasurements	(	T	time,
		const std::array< T, 6 > &	tar_state,
		const std::array< T, 3 > &	obs_state,
		std::array< T, 2 *6 > &	out_measurements
	)

Function to focal plane angles.

Parameters

time	The reference time (unused)
tar_state	The target reference state [x, y, z, vx, vy, vz]
obs_state	The observer reference state [x, y, z] representing camera position
out_measurements	Implicit return of [dalpha/dx dalpha/dy dalpha/dz 0 0 0, dbeta/dx dbeta/dy, dbeta/dz 0 0 0]

calculateMeasurements() [2/2]

virtual int clockwerk::Measurements< T, N, M, O >::calculateMeasurements ( T  time, const std::array< T, N > &  tar_state, const std::array< T, O > &  obs_state, std::array< T, M > &  out_measurements  )

inlinevirtualinherited

Function to calculate range and range rate from current state of system.

Parameters

time	The reference time
tar_state	The target reference state
obs_state	The observer reference state
out_measurements	Implicit return of measurements based on time, state

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

• /home/mickey/modelspace/clockwerk/src/gnc/navigation/measurements/CalcFocalPlaneAnglesMatrix.hpp