VoxlHK.h File Reference

Housekeeping and data publishing for VOXL OpenVINS. More...

#include <atomic>
#include <memory>
#include <modal_pipe.h>
#include <modal_json.h>
#include <voxl_common_config.h>
#include <core/VioManager.h>
#include <core/VioManagerOptions.h>
#include <types/LandmarkRepresentation.h>
#include <cstring>
#include <state/State.h>
#include <state/StateHelper.h>
#include <types/Landmark.h>
#include <types/Type.h>
#include <feat/Feature.h>
#include <cmath>
#include <algorithm>
#include <thread>
#include <chrono>
#include <Eigen/Eigenvalues>
#include "VoxlVars.h"
#include "VoxlCommon.h"

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Classes
class	voxl::Publisher
	Singleton class for publishing VIO data. More...
class	voxl::HealthCheck
	Health monitoring system for VOXL OpenVINS. More...

Namespaces
namespace	voxl
	Main namespace for VOXL OpenVINS server components.

Enumerations
enum class	voxl::ANG_VEL_TYPE { voxl::QUAT_DIRTY , voxl::RPY_DIRTY , voxl::IMU_BIAS }
	Types of angular velocity calculations. More...

Functions
Eigen::Matrix< double, 3, 1 >	voxl::dirtyOmega (const Eigen::Matrix< double, 4, 1 > &q_k, const Eigen::Matrix< double, 4, 1 > &q_km1, double dt)
	Calculate dirty angular velocity from quaternions.
const Eigen::Matrix3d &	voxl::R_OV_FRD ()
	Get OpenVINS to FRD coordinate frame transformation matrix.

Detailed Description

Housekeeping and data publishing for VOXL OpenVINS.

Author

Zauberflote

Date

2025

Version

1.0

This header defines the housekeeping system for the VOXL OpenVINS server, including data publishing, angular velocity calculations, and coordinate frame transformations. It provides the interface for outputting VIO data to external systems.

Definition in file VoxlHK.h.