Implements the accelerometer-gyrometer measurements. More...

#include <state-observation/sensors-simulation/accelerometer-gyrometer.hpp>

Inheritance diagram for stateObservation::AccelerometerGyrometer:

Collaboration diagram for stateObservation::AccelerometerGyrometer:

Public Member Functions
	AccelerometerGyrometer (bool matrixMode=false, bool withAcceleroBias=false, bool withGyroBias=false)

virtual	~AccelerometerGyrometer ()
	Virtual destructor. More...

void	setMatrixMode (bool matrixMode)

void	setWithGyroBias (bool withGyroBias)

void	setWithAcceleroBias (bool withAcceleroBias)

Public Member Functions inherited from stateObservation::AlgebraicSensor
	AlgebraicSensor ()
	Default constructor. More...

virtual	~AlgebraicSensor ()
	virtual destructor More...

virtual Vector	getMeasurements (bool noisy=true)

virtual void	setState (const Vector &state, TimeIndex k)
	Sets the value of the state at instant k. More...

virtual TimeIndex	getTime () const
	gets the current time More...

virtual Index	getStateSize () const
	gets the state vector size. Pure virtual method. More...

virtual Index	getMeasurementSize () const
	get the size of the measurements. Pure virtual method. More...

virtual Index	concatenateWithInput (Index n)

Public Member Functions inherited from stateObservation::SensorBase
	SensorBase ()
	default constructor More...

virtual	~SensorBase ()
	virtual destructor More...

virtual void	setNoise (NoiseBase *)

virtual NoiseBase *	getNoise () const
	gets the pointer on the measurements noise More...

virtual void	resetNoise ()
	removes the noise More...

virtual Vector	stateVectorZero () const
	gets a zero vector of the size of a state vector More...

virtual bool	checkStateVector (const Vector &) const
	checks whether a vector is correctly sized or not More...

Protected Member Functions
virtual Index	getStateSize_ () const
	Gets the state vector Size. More...

virtual Index	getMeasurementSize_ () const
	Gets the measurements vector size. More...

virtual Vector	computeNoiselessMeasurement_ ()

void	updateStateSize_ ()

Protected Member Functions inherited from stateObservation::AlgebraicSensor
Vector	computeNoisyMeasurement_ ()

virtual void	checkState_ (const Vector &)

Protected Member Functions inherited from stateObservation::algorithm::LinearAcceleration
virtual	~LinearAcceleration ()
	virtual destructor More...

Vector3	accelerationMeasure (const Vector3 &acceleration, const Matrix3 &orientation) const
	The acceleration measurement in the local frame represented by the orientation Matrix. More...

Protected Member Functions inherited from stateObservation::algorithm::RotationVelocity
virtual	~RotationVelocity ()
	virtual destructor More...

Vector3	rotationVelocityMeasure (const Vector3 &angVelocityVector, const Matrix3 &orientation) const
	The angular velocity measurement in the local frame represented by the orientation Matrix. More...

Protected Attributes
Matrix3	r_

Vector3	acc_

Vector3	omega_

Vector	output_

bool	withGyroBias_

bool	withAcceleroBias_

bool	matrixMode_

Index	currentStateSize_

Protected Attributes inherited from stateObservation::AlgebraicSensor
TimeIndex	time_

Index	concat_

Vector	state_

Vector	directInputToOutput_

bool	storedNoisyMeasurement_

Vector	noisyMeasurement_

bool	storedNoiselessMeasurement_

Vector	noiselessMeasurement_

Protected Attributes inherited from stateObservation::SensorBase
NoiseBase *	noise_

Static Protected Attributes
static const Index	stateSize_ = 10

static const Index	stateSizeMatrix_ = 15

static const Index	measurementSize_ = 6

Detailed Description

Implements the accelerometer-gyrometer measurements.

Constructor & Destructor Documentation

◆ AccelerometerGyrometer()

stateObservation::AccelerometerGyrometer::AccelerometerGyrometer	(	bool	matrixMode = `false`,
		bool	withAcceleroBias = `false`,
		bool	withGyroBias = `false`
	)

◆ ~AccelerometerGyrometer()

virtual stateObservation::AccelerometerGyrometer::~AccelerometerGyrometer ( )

inlinevirtual

Virtual destructor.

Member Function Documentation

◆ computeNoiselessMeasurement_()

virtual Vector stateObservation::AccelerometerGyrometer::computeNoiselessMeasurement_ ( )

protectedvirtual

the actual algorithm for the computation of the measurements, must be overloaded to implement any sensor

Implements stateObservation::AlgebraicSensor.

◆ getMeasurementSize_()

virtual Index stateObservation::AccelerometerGyrometer::getMeasurementSize_ ( ) const

protectedvirtual

Gets the measurements vector size.

Implements stateObservation::AlgebraicSensor.

◆ getStateSize_()

virtual Index stateObservation::AccelerometerGyrometer::getStateSize_ ( ) const

protectedvirtual

Gets the state vector Size.

Implements stateObservation::AlgebraicSensor.

◆ setMatrixMode()

void stateObservation::AccelerometerGyrometer::setMatrixMode ( bool matrixMode )

inline

◆ setWithAcceleroBias()

void stateObservation::AccelerometerGyrometer::setWithAcceleroBias ( bool withAcceleroBias )

inline

◆ setWithGyroBias()

void stateObservation::AccelerometerGyrometer::setWithGyroBias ( bool withGyroBias )

inline

◆ updateStateSize_()

void stateObservation::AccelerometerGyrometer::updateStateSize_ ( )

protected

Member Data Documentation

◆ acc_

Vector3 stateObservation::AccelerometerGyrometer::acc_

protected

◆ currentStateSize_

Index stateObservation::AccelerometerGyrometer::currentStateSize_

protected

◆ matrixMode_

bool stateObservation::AccelerometerGyrometer::matrixMode_

protected

◆ measurementSize_

const Index stateObservation::AccelerometerGyrometer::measurementSize_ = 6

staticprotected

◆ omega_

Vector3 stateObservation::AccelerometerGyrometer::omega_

protected

◆ output_

Vector stateObservation::AccelerometerGyrometer::output_

protected

◆ r_

Matrix3 stateObservation::AccelerometerGyrometer::r_

protected

◆ stateSize_

const Index stateObservation::AccelerometerGyrometer::stateSize_ = 10

staticprotected

◆ stateSizeMatrix_

const Index stateObservation::AccelerometerGyrometer::stateSizeMatrix_ = 15

staticprotected

◆ withAcceleroBias_

bool stateObservation::AccelerometerGyrometer::withAcceleroBias_

protected

◆ withGyroBias_

bool stateObservation::AccelerometerGyrometer::withGyroBias_

protected

The documentation for this class was generated from the following file:

include/state-observation/sensors-simulation/accelerometer-gyrometer.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AccelerometerGyrometer()

◆ ~AccelerometerGyrometer()

Member Function Documentation

◆ computeNoiselessMeasurement_()

◆ getMeasurementSize_()

◆ getStateSize_()

◆ setMatrixMode()

◆ setWithAcceleroBias()

◆ setWithGyroBias()

◆ updateStateSize_()

Member Data Documentation

◆ acc_

◆ currentStateSize_

◆ matrixMode_

◆ measurementSize_

◆ omega_

◆ output_

◆ r_

◆ stateSize_

◆ stateSizeMatrix_

◆ withAcceleroBias_

◆ withGyroBias_