Namespace inertialsim::examples¶

Namespace List > inertialsim > examples

Classes¶

Type	Name
struct	FlightData NESC flight simulation data.
struct	ImuData TartanAir IMU data.
struct	KittiCalibrationData Calibration data.
struct	KittiInertialData Inertial sensor data.
struct	KittiOdometryData Visual odometry data.
struct	NescDataMapEntry Mapping from check case identifier to subdirectory.
struct	PoseData TartanAir IMU pose data.
struct	RawDataMapEntry

Public Attributes¶

Type	Name
const std::map< std::string, NescDataMapEntry >	kNescDataMap
const std::map< int, RawDataMapEntry >	kRawDataMap

Public Functions¶

Type	Name
std::tuple< KittiOdometryData, KittiInertialData, KittiCalibrationData >	Load (const std::filesystem::path & directory, int sequence) Load KITTI data.
FlightData	Load (const std::filesystem::path & directory, const std::string & check_case, const std::string & simulator) Load NESC atmospheric flight simulation data.
std::pair< ImuData, PoseData >	Load (const std::filesystem::path & directory, const std::string & environment, const std::string & difficulty, int trajectory) Load TartanAir flight simulation data.

Public Attributes Documentation¶

variable kNescDataMap¶

const std::map<std::string, NescDataMapEntry> inertialsim::examples::kNescDataMap;

variable kRawDataMap¶

const std::map<int, RawDataMapEntry> inertialsim::examples::kRawDataMap;

Public Functions Documentation¶

function Load¶

Load KITTI data.

std::tuple< KittiOdometryData , KittiInertialData , KittiCalibrationData > inertialsim::examples::Load (
    const std::filesystem::path & directory,
    int sequence
)

Data is available from the KITTI site. Odometry, raw data (inertial), and calibration files for each desired sequence number must be available. Images are not required but cannot be separated from some required downloads ahead of time. Sequence 07 is the recommended example.

Parameters:

directory Top level directory with KITTI data organized in subdirectories.
sequence KITTI sequence number.

Returns:

Tuple of (odometry data, inertial data, calibration data).

function Load¶

Load NESC atmospheric flight simulation data.

FlightData inertialsim::examples::Load (
    const std::filesystem::path & directory,
    const std::string & check_case,
    const std::string & simulator
)

Data is available from the NASA Engineering and Safety Center site (see link in module documentation). Data is organized by atmospheric and orbital categories. Only atmospheric data is supported. Each check case has several available simulators.

Source data is in US customary units and is converted to SI units here.

Parameters:

directory Top level directory with NESC atmospheric check case data organized in subdirectories with original names.
check_case Check case identifier (e.g. "13p4").
simulator Simulator number (e.g. "02").

Returns:

FlightData containing simulated flight data from the requested check case and simulator.

function Load¶

Load TartanAir flight simulation data.

std::pair< ImuData , PoseData > inertialsim::examples::Load (
    const std::filesystem::path & directory,
    const std::string & environment,
    const std::string & difficulty,
    int trajectory
)

Data is available from the TartanAir site (see link in module documentation). Data is organized by environment, difficulty, and trajectory. Only IMU and associated pose data is supported here.

Parameters:

directory Top level directory with TartanAir data.
environment Environment name (e.g. "Downtown").
difficulty One of "easy" or "hard".
trajectory Trajectory number (e.g. 0, 1, ..., 8).

Returns:

Tuple of IMU data and pose data.

The documentation for this class was generated from the following file cpp/include/inertialsim/examples/kitti.h