SimpleDiscreteProcessNoise.h

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/*
Simple discrete process noise header file
 
Author: Alex Reynolds
*/
 
#ifndef GNC_NAVIGATION_EKF_SIMPLE_DISCRETE_PROCESS_NOISE_H
#define GNC_NAVIGATION_EKF_SIMPLE_DISCRETE_PROCESS_NOISE_H
 
#include "core/macros.h"
#include "architecture/Tasks.h"
#include "architecture/Time.h"
#include "core/CartesianVector.hpp"
 
namespace clockwerk {
    /**
     * @brief   Simplified state noise compensation model
     * 
     * 
     * 
     * Author: Alex Reynolds <alex.reynolds@attx.tech>
    */
    class SimpleDiscreteProcessNoise : public clockwerk::Task {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The covariance in the range measurement which will be used to construct the R matrix*/
            SIGNAL(Qc,                      Matrix3D,               Matrix3D({{1.0,0.0,0.0},{0.0,1.0,0.0},{0.0,0.0,1.0}}))
            /** The covariance in the range measurement which will be used to construct the R matrix*/
            SIGNAL(B,                       Matrix63D,              Matrix63D({{0.0,0.0,0.0},
                                                                               {0.0,0.0,0.0},
                                                                               {0.0,0.0,0.0},
                                                                               {1.0,0.0,0.0},
                                                                               {0.0,1.0,0.0},
                                                                               {0.0,0.0,1.0}}))
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** The input time stamp representing the start of process noise integration.
             *  Can be configured to loopback to outputs/time_state */
            SIGNAL(time_prev,               clockwerk::Time,        clockwerk::Time(0))
            /** The input time stamp representing the end of process noise integration.
             *  Will be written to time_state */
            SIGNAL(time_update,             clockwerk::Time,        clockwerk::Time(0))
            /** The covariance matrix prior to SNC Update */
            SIGNAL(cov_pre_snc,             Matrix6D,               Matrix6D())
            /** The state transition matrix to be applied in a linear propagation of process noise.
             *  Default is an identity matrix, which is effectively not using this parameter. */
            SIGNAL(phi,                     Matrix6D,               Matrix6D({{1.0,0.0,0.0,0.0,0.0,0.0},
                                                                              {0.0,1.0,0.0,0.0,0.0,0.0},
                                                                              {0.0,0.0,1.0,0.0,0.0,0.0},
                                                                              {0.0,0.0,0.0,1.0,0.0,0.0},
                                                                              {0.0,0.0,0.0,0.0,1.0,0.0},
                                                                              {0.0,0.0,0.0,0.0,0.0,1.0}}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The time stamp associated with the post snc covariance matrix */
            SIGNAL(time_state,              clockwerk::Time,        clockwerk::Time(0))
            /** The covariance matrix after SNC Update */
            SIGNAL(cov_post_snc,            Matrix6D,               Matrix6D())
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        SimpleDiscreteProcessNoise();
        SimpleDiscreteProcessNoise(clockwerk::Task &pnt, int schedule_slot=0, const std::string &m_name="simple_snc");
        SimpleDiscreteProcessNoise(clockwerk::Executive &e, int schedule_slot=0, const std::string &m_name="simple_snc");
        virtual ~SimpleDiscreteProcessNoise() {}
    protected:
        int execute();
 
        // Internal variable to hold our discrete time process noise matrix
        Matrix6D _Qd;
    };
}
 
#endif