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-mltpctive-dynamical-system.hpp>

Inheritance diagram for stateObservation::IMUMltpctiveDynamicalSystem:

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Collaboration diagram for stateObservation::IMUMltpctiveDynamicalSystem:

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Classes
struct	opt

Public Member Functions
	IMUMltpctiveDynamicalSystem ()
	The constructor. More...

virtual	~IMUMltpctiveDynamicalSystem ()
	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 Matrix	getAMatrix (const Vector &xh)

virtual Matrix	getCMatrix (const Vector &xp)

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	stateSum (const Vector &stateVector, const Vector &tangentVector, Vector &sum)

void	stateDifference (const Vector &stateVector1, const Vector &stateVector2, Vector &difference)

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...

Public Member Functions inherited from stateObservation::StateVectorArithmetics
virtual void	measurementDifference (const Vector &measureVector1, const Vector &measureVector2, Vector &difference)

Protected Types
typedef kine::indexes< kine::quaternion >	indexes

typedef kine::indexes< kine::rotationVector >	indexesTangent

Protected Attributes
struct stateObservation::IMUMltpctiveDynamicalSystem::opt	opt_

AccelerometerGyrometer	sensor_

NoiseBase *	processNoise_

double	dt_

Static Protected Attributes
static const Index	stateSize_ = 19

static const Index	stateTangentSize_ = 18

static const Index	inputSize_ = 6

static const Index	measurementSize_ = 6

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

void	assertInputVector_ (const Vector &v)

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.

Member Typedef Documentation

◆ indexes

typedef kine::indexes<kine::quaternion> stateObservation::IMUMltpctiveDynamicalSystem::indexes

protected

◆ indexesTangent

typedef kine::indexes<kine::rotationVector> stateObservation::IMUMltpctiveDynamicalSystem::indexesTangent

protected

Constructor & Destructor Documentation

◆ IMUMltpctiveDynamicalSystem()

stateObservation::IMUMltpctiveDynamicalSystem::IMUMltpctiveDynamicalSystem ( )

The constructor.

◆ ~IMUMltpctiveDynamicalSystem()

virtual stateObservation::IMUMltpctiveDynamicalSystem::~IMUMltpctiveDynamicalSystem ( )

virtual

The virtual destructor.

Member Function Documentation

◆ getAMatrix()

virtual Matrix stateObservation::IMUMltpctiveDynamicalSystem::getAMatrix ( const Vector & xh )

virtual

◆ getCMatrix()

virtual Matrix stateObservation::IMUMltpctiveDynamicalSystem::getCMatrix ( const Vector & xp )

virtual

◆ getInputSize()

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

virtual

Gets the input size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getMeasurementNoise()

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

virtual

Gets a pointer on the measurement noise.

◆ getMeasurementSize()

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

virtual

Gets the measurement size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ getProcessNoise()

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

virtual

Gets the process noise.

◆ getStateSize()

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

virtual

Gets the state size.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ measureDynamics()

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

virtual

Description of the sensor's dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ resetMeasurementNoise()

virtual void stateObservation::IMUMltpctiveDynamicalSystem::resetMeasurementNoise ( )

virtual

Removes the measurement noise.

◆ resetProcessNoise()

virtual void stateObservation::IMUMltpctiveDynamicalSystem::resetProcessNoise ( )

virtual

Removes the process noise.

◆ setMeasurementNoise()

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

virtual

Sets a noise which disturbs the measurements.

◆ setProcessNoise()

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

virtual

Sets a noise which disturbs the state dynamics.

◆ setSamplingPeriod()

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

virtual

Set the period of the time discretization.

◆ stateDifference()

void stateObservation::IMUMltpctiveDynamicalSystem::stateDifference	(	const Vector &	stateVector1,
		const Vector &	stateVector2,
		Vector &	difference
	)

virtual

Reimplemented from stateObservation::StateVectorArithmetics.

◆ stateDynamics()

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

virtual

Description of the state dynamics.

Implements stateObservation::DynamicalSystemFunctorBase.

◆ stateSum()

void stateObservation::IMUMltpctiveDynamicalSystem::stateSum	(	const Vector &	stateVector,
		const Vector &	tangentVector,
		Vector &	sum
	)

virtual

Reimplemented from stateObservation::StateVectorArithmetics.

Member Data Documentation

◆ dt_

double stateObservation::IMUMltpctiveDynamicalSystem::dt_

protected

◆ inputSize_

const Index stateObservation::IMUMltpctiveDynamicalSystem::inputSize_ = 6

staticprotected

◆ measurementSize_

const Index stateObservation::IMUMltpctiveDynamicalSystem::measurementSize_ = 6

staticprotected

◆ opt_

struct stateObservation::IMUMltpctiveDynamicalSystem::opt stateObservation::IMUMltpctiveDynamicalSystem::opt_

protected

◆ processNoise_

NoiseBase* stateObservation::IMUMltpctiveDynamicalSystem::processNoise_

protected

◆ sensor_

AccelerometerGyrometer stateObservation::IMUMltpctiveDynamicalSystem::sensor_

protected

◆ stateSize_

const Index stateObservation::IMUMltpctiveDynamicalSystem::stateSize_ = 19

staticprotected

◆ stateTangentSize_

const Index stateObservation::IMUMltpctiveDynamicalSystem::stateTangentSize_ = 18

staticprotected

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

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

Classes

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ indexes

◆ indexesTangent

Constructor & Destructor Documentation

◆ IMUMltpctiveDynamicalSystem()

◆ ~IMUMltpctiveDynamicalSystem()

Member Function Documentation

◆ getAMatrix()

◆ getCMatrix()

◆ getInputSize()

◆ getMeasurementNoise()

◆ getMeasurementSize()

◆ getProcessNoise()

◆ getStateSize()

◆ measureDynamics()

◆ resetMeasurementNoise()

◆ resetProcessNoise()

◆ setMeasurementNoise()

◆ setProcessNoise()

◆ setSamplingPeriod()

◆ stateDifference()

◆ stateDynamics()

◆ stateSum()

Member Data Documentation

◆ dt_

◆ inputSize_

◆ measurementSize_

◆ opt_

◆ processNoise_

◆ sensor_

◆ stateSize_

◆ stateTangentSize_