imu-attitude-trajectory-reconstruction.hpp
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1 
14 #ifndef IMUATTITUDETRAJECTORYRECONTRUCTIONHPP
15 #define IMUATTITUDETRAJECTORYRECONTRUCTIONHPP
16 
17 #include <state-observation/api.h>
18 #include <state-observation/dynamical-system/dynamical-system-simulator.hpp>
19 #include <state-observation/dynamical-system/imu-dynamical-system.hpp>
20 #include <state-observation/observer/extended-kalman-filter.hpp>
21 #include <state-observation/tools/miscellaneous-algorithms.hpp>
22 
23 namespace stateObservation
24 {
25 namespace examples
26 {
27 
56 IndexedVectorArray imuAttitudeTrajectoryReconstruction(const IndexedVectorArray & y,
57  const IndexedVectorArray & u,
58  const Vector & xh0,
59  const Matrix & p,
60  const Matrix & q,
61  const Matrix & r,
62  double dt,
63  bool withGyroBias);
64 
89 IndexedVectorArray imuAttitudeTrajectoryReconstruction(const IndexedVectorArray & y,
90  const Vector & xh0,
91  const Matrix & p,
92  const Matrix & q,
93  const Matrix & r,
94  double dt,
95  bool withGyroBias);
96 
97 #include <state-observation/examples/imu-attitude-trajectory-reconstruction.hxx>
98 
99 } // namespace examples
100 
101 } // namespace stateObservation
102 
103 #endif // IMUATTITUDETRAJECTORYRECONTRUCTIONHPP
stateObservation::Vector
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
stateObservation::IndexedMatrixArrayT
This class describes a structure that enables to store array of matrices with time indexation.
Definition: definitions.hpp:527
dynamical-system-simulator.hpp
Provides an interface to simulate the dynamics provided by a dynamics functor.
stateObservation::Matrix
Eigen::MatrixXd Matrix
Dynamic sized Matrix.
Definition: definitions.hpp:100
stateObservation::examples::imuAttitudeTrajectoryReconstruction
IndexedVectorArray imuAttitudeTrajectoryReconstruction(const IndexedVectorArray &y, const IndexedVectorArray &u, const Vector &xh0, const Matrix &p, const Matrix &q, const Matrix &r, double dt, bool withGyroBias)
imu-dynamical-system.hpp
The file describes the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigi...
miscellaneous-algorithms.hpp
Gathers many kinds of algorithms.
extended-kalman-filter.hpp
stateObservation
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20