accelerometer-gyrometer-magnetometer.hpp

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#ifndef SIMULATIONACCELEROMETERGYROMETERMAGNETOMETERSENSORHPP
#define SIMULATIONACCELEROMETERGYROMETERMAGNETOMETERSENSORHPP
 
#include <boost/assert.hpp>
#include <Eigen/Core>
 
#include <state-observation/api.h>
#include <state-observation/sensors-simulation/algebraic-sensor.hpp>
#include <state-observation/sensors-simulation/algorithm/linear-acceleration.hpp>
#include <state-observation/sensors-simulation/algorithm/magnetic-field.hpp>
#include <state-observation/sensors-simulation/algorithm/rotation-velocity.hpp>
 
namespace stateObservation
{
class STATE_OBSERVATION_DLLAPI AccelerometerGyrometerMagnetometer : public AlgebraicSensor,
                                                                    protected algorithm::LinearAcceleration,
                                                                    protected algorithm::RotationVelocity,
                                                                    protected algorithm::MagneticField
{
public:
  AccelerometerGyrometerMagnetometer();
 
  virtual ~AccelerometerGyrometerMagnetometer() {}
 
  void setMatrixMode(bool matrixMode);
 
protected:
  virtual Index getStateSize_() const;
 
  virtual Index getMeasurementSize_() const;
 
  virtual Vector computeNoiselessMeasurement_();
 
  Matrix3 r_;
  Vector3 acc_;
  Vector3 omega_;
  Vector3 magne_;
  Vector output_;
 
  bool matrixMode_;
 
  static const Index stateSize_ = 10;
  static const Index stateSizeMatrix_ = 15;
 
  static const Index measurementSize_ = 9;
 
  Index currentStateSize_;
};
 
} // namespace stateObservation
 
#endif // SIMULATIONACCELEROMETERGYROMETERMAGNETOMETERSENSORHPP