csps query_beta 0.1

Overview

The csps-query software is designed to offer a manual way of getting information on position and orientation of the device base on a given timestamp. The geopositions and the rotation matrix that defines device orientation according to earth are dumped in the software terminal output.

Usage

The csps-query software expect the following parameters :

--path -p

Path to the CSPS-processed structure (directory).

--gps-tag -g, --gps-mod -m

CSPS-tag of the GPS device and CSPS-module to consider for query on
CSPS, respectively.

--imu-tag -i, --imu-mod -n

CSPS-tag of the IMU device and CSPS-module to consider for query on
CSPS, respectively.

--second -s, --micro-second -u

Unix timestamp and microsecond part used for query on position and
orientation.

Demonstration

Considering a CSPS-processed structure and the following command :

csps-query --path /some/path/csps/ \
           --gps-tag ls20031   --gps-mod mod-SGNQF \
           --imu-tag adis16375 --imu-mod mod-IFETI \
           --second 1400683815 --micro-second 0

the software gives the following output :

Position at 1400683815.000000 [s]
  Longitude :   6.127393 [°]
  Latitude  :  46.187332 [°]
  Altitude  : 386.200000 [m]
Orientation at 1400683815.000000 [s]
  Matrix    :   0.225510  -0.965194  -0.136793
  Matrix    :   0.970723   0.235244  -0.059549
  Matrix    :   0.089527  -0.119378   0.988805

where the rotation matrix is built considering the three body-frame vectors as matrix columns.

Compilation

The software binary can be build using its specific makefile by simply typing in its base directory :

$ make clean && make

The binary is placed in the local bin directory and is not copied in the csps-suite main bin directory. To generate the documentation, use the command :

$ make documentation

When documentation is generated, the previous one is preliminary removed.