#include <imusensor.h>
Public Types | |
| typedef Matrix< double, _nz, 1 > | Vectorzd |
| typedef Matrix< double, _nu, 1 > | Vectorcd |
| typedef Matrix< double, _np, 1 > | Vectormd |
| typedef Matrix< double, _nz, _nu > | Matrixzcd |
| typedef Matrix< double, _nz, 6 > | Matrixz6d |
| typedef Matrix< double, _nz, 9 > | Matrixz9d |
| typedef Matrix< double, _nz, _np > | Matrixzmd |
Public Member Functions | |
| ImuSensor () | |
| bool | operator() (Vectorzd &y, double t, const ImuState &x, const Vectorcd &u, const Vectormd *p=0, Matrixz9d *dydx=0, Matrixzcd *dydu=0, Matrixzmd *dydp=0) |
Public Attributes | |
| Vector3d | a0 |
| acceleration reference (e.g. Earth gravity) | |
| Vector3d | m0 |
| magnetometer reference (e.g. magnetic North) | |
| double | sra |
| acceleration measurement stdev | |
| double | srm |
| magnetometer measurement stdev | |
Detailed Description
template<int _nz = 6, int _nu = 3, int _np = Dynamic>
class gcop::ImuSensor< _nz, _nu, _np >
An IMU Sensor model. Initialize with nz=3 for no magnetometer, otherwise set nz=6 (default) for acceleration + magnetometer measurements.
Author: Marin Kobilarov marin(at)jhu.edu
Member Typedef Documentation
| typedef Matrix<double, _nz, 6> gcop::ImuSensor< _nz, _nu, _np >::Matrixz6d |
| typedef Matrix<double, _nz, 9> gcop::ImuSensor< _nz, _nu, _np >::Matrixz9d |
| typedef Matrix<double, _nz, _nu> gcop::ImuSensor< _nz, _nu, _np >::Matrixzcd |
| typedef Matrix<double, _nz, _np> gcop::ImuSensor< _nz, _nu, _np >::Matrixzmd |
| typedef Matrix<double, _nu, 1> gcop::ImuSensor< _nz, _nu, _np >::Vectorcd |
Reimplemented from gcop::Sensor< ImuState, 9, _nu, _np, Matrix< double, _nz, 1 >, _nz >.
| typedef Matrix<double, _np, 1> gcop::ImuSensor< _nz, _nu, _np >::Vectormd |
Reimplemented from gcop::Sensor< ImuState, 9, _nu, _np, Matrix< double, _nz, 1 >, _nz >.
| typedef Matrix<double, _nz, 1> gcop::ImuSensor< _nz, _nu, _np >::Vectorzd |
Constructor & Destructor Documentation
| gcop::ImuSensor< _nz, _nu, _np >::ImuSensor | ( | ) |
< acceleration measurement stdev
< magnetometer measurement stdev
References gcop::ImuSensor< _nz, _nu, _np >::a0, gcop::ImuSensor< _nz, _nu, _np >::m0, gcop::Sensor< ImuState, 9, _nu, _np, Matrix< double, _nz, 1 >, _nz >::R, gcop::ImuSensor< _nz, _nu, _np >::sra, and gcop::ImuSensor< _nz, _nu, _np >::srm.
Member Function Documentation
| bool gcop::ImuSensor< _nz, _nu, _np >::operator() | ( | Vectorzd & | y, |
| double | t, | ||
| const ImuState & | x, | ||
| const Vectorcd & | u, | ||
| const Vectormd * | p = 0, |
||
| Matrixz9d * | dydx = 0, |
||
| Matrixzcd * | dydu = 0, |
||
| Matrixzmd * | dydp = 0 |
||
| ) | [inline] |
References gcop::ImuState::ba, gcop::SO3::hat(), gcop::SO3::Instance(), and gcop::ImuState::R.
Member Data Documentation
| Vector3d gcop::ImuSensor< _nz, _nu, _np >::a0 |
acceleration reference (e.g. Earth gravity)
Referenced by gcop::ImuSensor< _nz, _nu, _np >::ImuSensor().
| Vector3d gcop::ImuSensor< _nz, _nu, _np >::m0 |
magnetometer reference (e.g. magnetic North)
Referenced by gcop::ImuSensor< _nz, _nu, _np >::ImuSensor().
| double gcop::ImuSensor< _nz, _nu, _np >::sra |
acceleration measurement stdev
Referenced by gcop::ImuSensor< _nz, _nu, _np >::ImuSensor().
| double gcop::ImuSensor< _nz, _nu, _np >::srm |
magnetometer measurement stdev
Referenced by gcop::ImuSensor< _nz, _nu, _np >::ImuSensor().
The documentation for this class was generated from the following file:
- lib/systems/sensors/imusensor.h
