gcop::Imu Class Reference

#include <imu.h>

Inheritance diagram for gcop::Imu:

Collaboration diagram for gcop::Imu:

List of all members.

Public Member Functions
	Imu ()
virtual	~Imu ()
double	Step (ImuState &xb, double t, const ImuState &xa, const Vector3d &u, double h, const VectorXd *p=0, Matrix9d *A=0, Matrix93d *B=0, Matrix9Xd *C=0)
bool	Noise (Matrix9d &Q, double t, const ImuState &x, const Vector3d &u, double dt, const VectorXd *p=0)
Public Attributes
double	sv
	gyro bias white noise stdev (spectral density)
double	su
	gyro bias rate-of-change white noise stdev (spectral density)
double	sa
	acceleration bias rate-of-change white noise stdev (spectral density)

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Detailed Description

An IMU system

Author: Marin Kobilarov marin(at)jhu.edu

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Constructor & Destructor Documentation

Imu::Imu

(

)

References sa, su, and sv.

Imu::~Imu

(

)

[virtual]

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Member Function Documentation

bool Imu::Noise	(	Matrix9d &	Q,
		double	t,
		const ImuState &	x,
		const Vector3d &	u,
		double	dt,
		const VectorXd *	p = 0
	)

References sa, su, and sv.

double Imu::Step	(	ImuState &	xb,
		double	t,
		const ImuState &	xa,
		const Vector3d &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix9d *	A = 0,
		Matrix93d *	B = 0,
		Matrix9Xd *	C = 0
	)

References gcop::ImuState::ba, gcop::ImuState::bg, gcop::SO3::dexp(), gcop::SO3::exp(), gcop::SO3::Instance(), and gcop::ImuState::R.

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Member Data Documentation

double gcop::Imu::sa

acceleration bias rate-of-change white noise stdev (spectral density)

Referenced by Imu(), and Noise().

double gcop::Imu::su

gyro bias rate-of-change white noise stdev (spectral density)

Referenced by Imu(), and Noise().

double gcop::Imu::sv

gyro bias white noise stdev (spectral density)

Referenced by Imu(), and Noise().

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

• lib/systems/imu.h
• lib/systems/imu.cc