stateObservation::AlgebraicSensor Class Reference

The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state value and the current time and do not have internal dynamics (or a dynamics which converges fast enough to be ignored). This class implements mostly the containers and the interface to algebraic sensors. Algebraic sensors must be derived from this class. More...

#include <state-observation/sensors-simulation/algebraic-sensor.hpp>

Inheritance diagram for stateObservation::AlgebraicSensor:

Collaboration diagram for stateObservation::AlgebraicSensor:

Public Member Functions
	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 Vector	computeNoiselessMeasurement_ ()=0
virtual Index	getStateSize_ () const =0
virtual Index	getMeasurementSize_ () const =0
Vector	computeNoisyMeasurement_ ()
virtual void	checkState_ (const Vector &)

Protected Attributes
TimeIndex	time_
Index	concat_
Vector	state_
Vector	directInputToOutput_
bool	storedNoisyMeasurement_
Vector	noisyMeasurement_
bool	storedNoiselessMeasurement_
Vector	noiselessMeasurement_
Protected Attributes inherited from stateObservation::SensorBase
NoiseBase *	noise_

Detailed Description

The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state value and the current time and do not have internal dynamics (or a dynamics which converges fast enough to be ignored). This class implements mostly the containers and the interface to algebraic sensors. Algebraic sensors must be derived from this class.

Constructor & Destructor Documentation

AlgebraicSensor()

stateObservation::AlgebraicSensor::AlgebraicSensor

(

)

Default constructor.

~AlgebraicSensor()

virtual stateObservation::AlgebraicSensor::~AlgebraicSensor ( )

inlinevirtual

virtual destructor

Member Function Documentation

checkState_()

virtual void stateObservation::AlgebraicSensor::checkState_ ( const Vector &  )

protectedvirtual

computeNoiselessMeasurement_()

virtual Vector stateObservation::AlgebraicSensor::computeNoiselessMeasurement_ ( )

protectedpure virtual

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

Implemented in stateObservation::AccelerometerGyrometer, and stateObservation::AccelerometerGyrometerMagnetometer.

computeNoisyMeasurement_()

Vector stateObservation::AlgebraicSensor::computeNoisyMeasurement_ ( )

protected

concatenateWithInput()

virtual Index stateObservation::AlgebraicSensor::concatenateWithInput ( Index  n )

virtual

concatenates the n last components of the state in the measurement (useful when the measurements are already computed or when they come from external source)

getMeasurements()

virtual Vector stateObservation::AlgebraicSensor::getMeasurements ( bool  noisy = true )

virtual

gets the measurement of the current time. We can choose to consider noise or not (default is noisy)

Implements stateObservation::SensorBase.

getMeasurementSize()

virtual Index stateObservation::AlgebraicSensor::getMeasurementSize ( ) const

virtual

get the size of the measurements. Pure virtual method.

Implements stateObservation::SensorBase.

getMeasurementSize_()

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

protectedpure virtual

Implemented in stateObservation::AccelerometerGyrometer, and stateObservation::AccelerometerGyrometerMagnetometer.

getStateSize()

virtual Index stateObservation::AlgebraicSensor::getStateSize ( ) const

virtual

gets the state vector size. Pure virtual method.

Implements stateObservation::SensorBase.

getStateSize_()

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

protectedpure virtual

Implemented in stateObservation::AccelerometerGyrometer, and stateObservation::AccelerometerGyrometerMagnetometer.

getTime()

virtual TimeIndex stateObservation::AlgebraicSensor::getTime ( ) const

virtual

gets the current time

Implements stateObservation::SensorBase.

setState()

virtual void stateObservation::AlgebraicSensor::setState ( const Vector &  state, TimeIndex  k  )

virtual

Sets the value of the state at instant k.

Implements stateObservation::SensorBase.

Member Data Documentation

concat_

Index stateObservation::AlgebraicSensor::concat_

protected

directInputToOutput_

Vector stateObservation::AlgebraicSensor::directInputToOutput_

protected

noiselessMeasurement_

Vector stateObservation::AlgebraicSensor::noiselessMeasurement_

protected

noisyMeasurement_

Vector stateObservation::AlgebraicSensor::noisyMeasurement_

protected

state_

Vector stateObservation::AlgebraicSensor::state_

protected

storedNoiselessMeasurement_

bool stateObservation::AlgebraicSensor::storedNoiselessMeasurement_

protected

storedNoisyMeasurement_

bool stateObservation::AlgebraicSensor::storedNoisyMeasurement_

protected

time_

TimeIndex stateObservation::AlgebraicSensor::time_

protected

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

• include/state-observation/sensors-simulation/algebraic-sensor.hpp