Class Clock¶

Defined in File clock.h

Inheritance Relationships¶

Base Type¶

public lupnt::Device (Class Device)

Class Documentation¶

class Clock : public lupnt::Device ¶

Onboard clock device: tracks a clock-bias state (bias, drift, drift-rate) using a ClockDynamics model and exposes the agent’s current “true” time via Read.

Attached to a satellite/rover/ground-station Agent (e.g. as the "clock" device) and used by ClockDynamics/JointOrbitClockDynamics to propagate clock error states for measurement simulation (pseudorange/ carrier-phase clock-bias terms in measurements/) and by navigation filters as the truth/reference against which receiver clock states are estimated.

Public Functions

Clock()¶

Clock(Config &config)¶

Real Read(Real t)¶

Propagate the clock state from its last-read time to t and return the resulting clock time (true time t plus the current clock bias, converted from bias_unit_ to seconds) [s].

Called whenever a device/measurement model needs the agent’s clock reading instead of true simulation time (e.g. when generating timestamped GNSS measurements). Internally advances state_ via ClockDynamics::Propagate (or PropagateWithRelativity if use_relativity_ is enabled, using BuildRelativityContext) from the previously stored time_ to t, updates time_ = t, and adds the propagated bias (converted to seconds via ClockDynamics::BiasUnitsToSeconds) to t.

Parameters:: t – Simulation (true) time to read the clock at [s]; must be >= the time of the previous Read/current time_
Returns:: Clock-reading time = t + bias [s]

virtual void Step(Real t) override¶: Clock device step; currently a no-op (clock propagation happens lazily in Read).

virtual void Setup() override¶: Clock device setup; currently a no-op.

void SetModel(ClockModel model)¶: Set the clock noise/drift model (e.g. USO, CSAC, RAFS) and propagate it to the underlying ClockDynamics.

inline ClockModel GetModel() const¶: Get the configured clock noise/drift model.

inline void SetState(const ClockState3 &state)¶: Set the clock-bias state (bias, drift, drift-rate) and refresh its unit labels via ApplyClockStateUnits.

inline ClockState3 GetState() const¶: Get the current clock-bias state (bias, drift, drift-rate), in units given by GetClockBiasUnit.

inline void SetTime(Real time)¶: Set the clock’s internal last-propagated time [s] (does not propagate the state).

inline Real GetTime() const¶: Get the clock’s internal last-propagated time [s] (the time argument of the most recent Read call).

void SetClockBiasUnit(ClockBiasUnit unit)¶: Set the unit (seconds, range-equivalent meters, or kilometers) in which the clock-bias state is represented, and propagate it to the underlying ClockDynamics.

inline ClockBiasUnit GetClockBiasUnit() const¶: Get the unit in which the clock-bias state is represented.

inline void SetUseRelativity(bool use_relativity)¶: Enable/disable general-relativistic clock-rate corrections (gravitational frequency shift + special-relativistic time dilation) in Read, via ClockDynamics::PropagateWithRelativity.

inline bool GetUseRelativity() const¶: Whether relativistic clock-rate corrections are applied in Read.

inline void SetRelativityCenterBody(BodyId center_body)¶: Set the central body (e.g. BodyId::EARTH) whose gravitational potential and inertial frame define the relativistic clock-rate correction computed in BuildRelativityContext.

inline BodyId GetRelativityCenterBody() const¶: Get the relativity center body (see SetRelativityCenterBody).

inline bool HasRelativityCenterBody() const¶: Whether a relativity center body has been explicitly set; if false, BuildRelativityContext falls back to the frame center of the agent’s state at the propagation end time.

inline void ClearRelativityCenterBody()¶: Clear a previously-set relativity center body (see HasRelativityCenterBody).

inline void SetRelativityUnits(const UnitSystem &units)¶: Set the unit system (e.g. SI) used to look up the relativity center body’s physical constants (GM, speed of light) in BuildRelativityContext.

inline UnitSystem GetRelativityUnits() const¶: Get the unit system used for relativity-related physical constants.

void SetDynamics(Ptr<ClockDynamics> dynamics)¶: Replace the underlying ClockDynamics model, propagating the current clock model and bias unit to it.

inline ClockDynamics *GetDynamics() const¶: Get a raw (non-owning) pointer to the underlying ClockDynamics.

inline Ptr<ClockDynamics> GetDynamicsSharedPtr() const¶: Get a shared pointer to the underlying ClockDynamics.

virtual void Log(Real time) override¶: Log the clock’s current time and bias-state components (with unit-aware names, e.g. "<name>/state/b_s") to the simulation’s DataLogger output. Overrides Device::Log.