The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer. More...

#include <state-observation/dynamical-system/imu-dynamical-system.hpp>

Inheritance diagram for stateObservation::IMUDynamicalSystem:

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Collaboration diagram for stateObservation::IMUDynamicalSystem:

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Classes
struct	indexes

Public Member Functions
	IMUDynamicalSystem (bool withGyroBias=false)
	The constructor. More...

virtual	~IMUDynamicalSystem ()
	The virtual destructor. More...

virtual Vector	stateDynamics (const Vector &x, const Vector &u, TimeIndex k)
	Description of the state dynamics. More...

virtual Vector	measureDynamics (const Vector &x, const Vector &u, TimeIndex k)
	Description of the sensor's dynamics. More...

virtual void	setProcessNoise (NoiseBase *)
	Sets a noise which disturbs the state dynamics. More...

virtual void	resetProcessNoise ()
	Removes the process noise. More...

virtual NoiseBase *	getProcessNoise () const
	Gets the process noise. More...

virtual void	setMeasurementNoise (NoiseBase *)
	Sets a noise which disturbs the measurements. More...

virtual void	resetMeasurementNoise ()
	Removes the measurement noise. More...

virtual NoiseBase *	getMeasurementNoise () const
	Gets a pointer on the measurement noise. More...

virtual void	setSamplingPeriod (double dt)
	Set the period of the time discretization. More...

virtual Index	getStateSize () const
	Gets the state size. More...

virtual Index	getInputSize () const
	Gets the input size. More...

virtual Index	getMeasurementSize () const
	Gets the measurement size. More...

void	setWithGyroBias (bool)
	Set whether we use Gyro Bias. More...

void	updatestatesize ()

Public Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
	DynamicalSystemFunctorBase ()

virtual	~DynamicalSystemFunctorBase ()

virtual void	reset ()

virtual bool	checkStateVector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be a state vector. More...

virtual bool	checkInputvector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be an input vector. More...

Protected Member Functions
Quaternion	computeQuaternion_ (const Vector3 &x)

Protected Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
void	assertStateVector_ (const Vector &v)

void	assertInputVector_ (const Vector &v)

Protected Attributes
AccelerometerGyrometer	sensor_

NoiseBase *	processNoise_

double	dt_

Vector3Unaligned	orientationVector_

QuaternionUnaligned	quaternion_

Index	statesize_
	the state size may be bigger if the bias is considered More...

bool	withGyroBias_

Static Protected Attributes
static const Index	stateSizeBase_ = 18

static const Index	inputSize_ = 6

static const Index	measurementSize_ = 6

static constexpr double	one_ = 0.9999
	the factor that approximate the "one" to avoid drifting of unobservable values More...

Detailed Description

The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer.

Constructor & Destructor Documentation

◆ IMUDynamicalSystem()

stateObservation::IMUDynamicalSystem::IMUDynamicalSystem ( bool withGyroBias = false )

The constructor.

◆ ~IMUDynamicalSystem()

virtual stateObservation::IMUDynamicalSystem::~IMUDynamicalSystem ( )

virtual

The virtual destructor.

Member Function Documentation

◆ computeQuaternion_()

Quaternion stateObservation::IMUDynamicalSystem::computeQuaternion_ ( const Vector3 & x )

protected

◆ getInputSize()

virtual Index stateObservation::IMUDynamicalSystem::getInputSize ( ) const

virtual

Gets the input size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getMeasurementNoise()

virtual NoiseBase* stateObservation::IMUDynamicalSystem::getMeasurementNoise ( ) const

virtual

Gets a pointer on the measurement noise.

◆ getMeasurementSize()

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

virtual

Gets the measurement size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getProcessNoise()

virtual NoiseBase* stateObservation::IMUDynamicalSystem::getProcessNoise ( ) const

virtual

Gets the process noise.

◆ getStateSize()

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

virtual

Gets the state size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ measureDynamics()

virtual Vector stateObservation::IMUDynamicalSystem::measureDynamics	(	const Vector &	x,
		const Vector &	u,
		TimeIndex	k
	)

virtual

Description of the sensor's dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ resetMeasurementNoise()

virtual void stateObservation::IMUDynamicalSystem::resetMeasurementNoise ( )

virtual

Removes the measurement noise.

◆ resetProcessNoise()

virtual void stateObservation::IMUDynamicalSystem::resetProcessNoise ( )

virtual

Removes the process noise.

◆ setMeasurementNoise()

virtual void stateObservation::IMUDynamicalSystem::setMeasurementNoise ( NoiseBase * )

virtual

Sets a noise which disturbs the measurements.

◆ setProcessNoise()

virtual void stateObservation::IMUDynamicalSystem::setProcessNoise ( NoiseBase * )

virtual

Sets a noise which disturbs the state dynamics.

◆ setSamplingPeriod()

virtual void stateObservation::IMUDynamicalSystem::setSamplingPeriod ( double dt )

virtual

Set the period of the time discretization.

◆ setWithGyroBias()

void stateObservation::IMUDynamicalSystem::setWithGyroBias ( bool )

Set whether we use Gyro Bias.

◆ stateDynamics()

virtual Vector stateObservation::IMUDynamicalSystem::stateDynamics	(	const Vector &	x,
		const Vector &	u,
		TimeIndex	k
	)

virtual

Description of the state dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ updatestatesize()

void stateObservation::IMUDynamicalSystem::updatestatesize ( )

inline

Member Data Documentation

◆ dt_

double stateObservation::IMUDynamicalSystem::dt_

protected

◆ inputSize_

const Index stateObservation::IMUDynamicalSystem::inputSize_ = 6

staticprotected

◆ measurementSize_

const Index stateObservation::IMUDynamicalSystem::measurementSize_ = 6

staticprotected

◆ one_

constexpr double stateObservation::IMUDynamicalSystem::one_ = 0.9999

staticconstexprprotected

the factor that approximate the "one" to avoid drifting of unobservable values

◆ orientationVector_

Vector3Unaligned stateObservation::IMUDynamicalSystem::orientationVector_

protected

◆ processNoise_

NoiseBase* stateObservation::IMUDynamicalSystem::processNoise_

protected

◆ quaternion_

QuaternionUnaligned stateObservation::IMUDynamicalSystem::quaternion_

protected

◆ sensor_

AccelerometerGyrometer stateObservation::IMUDynamicalSystem::sensor_

protected

◆ statesize_

Index stateObservation::IMUDynamicalSystem::statesize_

protected

the state size may be bigger if the bias is considered

◆ stateSizeBase_

const Index stateObservation::IMUDynamicalSystem::stateSizeBase_ = 18

staticprotected

◆ withGyroBias_

bool stateObservation::IMUDynamicalSystem::withGyroBias_

protected

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

include/state-observation/dynamical-system/imu-dynamical-system.hpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IMUDynamicalSystem()

◆ ~IMUDynamicalSystem()

Member Function Documentation

◆ computeQuaternion_()

◆ getInputSize()

◆ getMeasurementNoise()

◆ getMeasurementSize()

◆ getProcessNoise()

◆ getStateSize()

◆ measureDynamics()

◆ resetMeasurementNoise()

◆ resetProcessNoise()

◆ setMeasurementNoise()

◆ setProcessNoise()

◆ setSamplingPeriod()

◆ setWithGyroBias()

◆ stateDynamics()

◆ updatestatesize()

Member Data Documentation

◆ dt_

◆ inputSize_

◆ measurementSize_

◆ one_

◆ orientationVector_

◆ processNoise_

◆ quaternion_

◆ sensor_

◆ statesize_

◆ stateSizeBase_

◆ withGyroBias_