struct mola::state_estimation_smoother::StateEstimationSmoother::State::GnssGate

Overview

GNSS gate bookkeeping.

#include <StateEstimationSmoother.h>

struct GnssGate
{
    // structs

    struct Fix;

    // fields

    std::optional<Fix> lastAccepted;
    std::optional<mrpt::math::TPoint3D> lastAcceptedAntennaMap;
    std::optional<mrpt::Clock::time_point> lastOdometryEvidence;
    std::vector<Fix> datumCandidates;
    std::optional<Fix> lastRejected;
    size_t rejectedRunLength = 0;
    std::optional<Fix> runStartFix;
    std::optional<mrpt::math::TPoint3D> runStartAntennaMap;
    std::optional<mrpt::math::TPoint3D> runStartFixEnu;
    std::optional<mrpt::math::TPoint3D> runStartPredEnu;
    double postSigma = -1;
    double pathSinceAccepted = 0;
    std::optional<mrpt::math::TPoint3D> lastPredictedAntenna;
    bool relocalized = false;
    bool reacquiring = false;
};

Fields

std::optional<Fix> lastAccepted

used before there is a prediction

std::optional<mrpt::math::TPoint3D> lastAcceptedAntennaMap

odometry at it

std::optional<mrpt::Clock::time_point> lastOdometryEvidence

Last fix time with a solved antenna position (odometry evidence).

std::vector<Fix> datumCandidates

consecutive consistent fixes

std::optional<Fix> lastRejected

last of the current rejected run

size_t rejectedRunLength = 0

mutually consistent rejections

std::optional<Fix> runStartFix

Without a prediction: first fix of the current rejected run, and the antenna position in {map} at that time, if any (odometry evidence).

std::optional<mrpt::math::TPoint3D> runStartFixEnu

First fix of the current rejected run and its prediction (ENU).

double postSigma = -1

< 0: not initialized

double pathSinceAccepted = 0

[m]

std::optional<mrpt::math::TPoint3D> lastPredictedAntenna

in {map}

bool relocalized = false

With a fixed geo-reference: the vehicle position has converged (sticky), so there is a prediction worth gating against.

bool reacquiring = false

After a reacquisition, the gate stays open while the estimate catches up with the fixes.