gcop::InsImu< _nz, _nu, _np > Class Template Reference

#include <insimu.h>

Inheritance diagram for gcop::InsImu< _nz, _nu, _np >:

Collaboration diagram for gcop::InsImu< _nz, _nu, _np >:

List of all members.

Public Types
typedef Matrix< double, _nu, 1 >	Vectorcd
typedef Matrix< double, _np, 1 >	Vectormd
typedef Matrix< double, _nz, 1 >	Vectorzd
typedef Matrix< double, _nz, 3 >	Matrixz3d
typedef Matrix< double, _nz, _nu >	Matrixzcd
typedef Matrix< double, _nz, 15 >	Matrixz15d
typedef Matrix< double, _nz, _np >	Matrixzmd
Public Member Functions
	InsImu ()
bool	operator() (Vectorzd &y, double t, const InsState &x, const Vectorcd &u, const Vectormd *p=0, Matrixz15d *dydx=0, Matrixzcd *dydu=0, Matrixzmd *dydp=0)
Public Attributes
Vector3d	a0
	acceleration reference
Vector3d	m0
	magnetometer reference
double	sra
	acceleration measurement stdev
double	srm
	magnetometer measurement stdev

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Detailed Description

template<int _nz = 6, int _nu = 6, int _np = Dynamic>
class gcop::InsImu< _nz, _nu, _np >

General sensor model

Subclasses should provide implementation for the sensor function ()

Author: Marin Kobilarov marin(at)jhu.edu

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Member Typedef Documentation

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _nz, 15> gcop::InsImu< _nz, _nu, _np >::Matrixz15d

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _nz, 3> gcop::InsImu< _nz, _nu, _np >::Matrixz3d

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _nz, _nu> gcop::InsImu< _nz, _nu, _np >::Matrixzcd

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _nz, _np> gcop::InsImu< _nz, _nu, _np >::Matrixzmd

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _nu, 1> gcop::InsImu< _nz, _nu, _np >::Vectorcd

Reimplemented from gcop::Sensor< InsState, 15, _nu, _np, Matrix< double, _nz, 1 >, _nz >.

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _np, 1> gcop::InsImu< _nz, _nu, _np >::Vectormd

Reimplemented from gcop::Sensor< InsState, 15, _nu, _np, Matrix< double, _nz, 1 >, _nz >.

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

typedef Matrix<double, _nz, 1> gcop::InsImu< _nz, _nu, _np >::Vectorzd

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Constructor & Destructor Documentation

template<int _nz, int _nu, int _np>

gcop::InsImu< _nz, _nu, _np >::InsImu

(

)

< acceleration measurement stdev

< magnetometer measurement stdev

References gcop::InsImu< _nz, _nu, _np >::a0, gcop::InsImu< _nz, _nu, _np >::m0, gcop::Sensor< InsState, 15, _nu, _np, Matrix< double, _nz, 1 >, _nz >::R, gcop::InsImu< _nz, _nu, _np >::sra, and gcop::InsImu< _nz, _nu, _np >::srm.

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Member Function Documentation

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

bool gcop::InsImu< _nz, _nu, _np >::operator()	(	Vectorzd &	y,
		double	t,
		const InsState &	x,
		const Vectorcd &	u,
		const Vectormd *	p = 0,
		Matrixz15d *	dydx = 0,
		Matrixzcd *	dydu = 0,
		Matrixzmd *	dydp = 0
	)		[inline]

References gcop::InsState::ba, gcop::SO3::hat(), gcop::SO3::Instance(), and gcop::InsState::R.

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Member Data Documentation

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

Vector3d gcop::InsImu< _nz, _nu, _np >::a0

acceleration reference

Referenced by gcop::InsImu< _nz, _nu, _np >::InsImu().

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

Vector3d gcop::InsImu< _nz, _nu, _np >::m0

magnetometer reference

Referenced by gcop::InsImu< _nz, _nu, _np >::InsImu().

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

double gcop::InsImu< _nz, _nu, _np >::sra

acceleration measurement stdev

Referenced by gcop::InsImu< _nz, _nu, _np >::InsImu().

template<int _nz = 6, int _nu = 6, int _np = Dynamic>

double gcop::InsImu< _nz, _nu, _np >::srm

magnetometer measurement stdev

Referenced by gcop::InsImu< _nz, _nu, _np >::InsImu().

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

• lib/systems/sensors/insimu.h