#include <ImuError.hpp>

Public Member Functions
	Configuration ()

Public Attributes
int	seed

double	dt

base::Matrix3d	Dacc

base::Matrix3d	Dgyro

base::Vector3d	accrw

base::Vector3d	accrrw

base::Vector3d	accbias

base::Vector3d	abeta

base::Vector3d	gyrorw

base::Vector3d	gyrorrw

base::Vector3d	gyrobias

base::Vector3d	gbeta

Constructor & Destructor Documentation

◆ Configuration()

imumodel::Configuration::Configuration ( )

inline

default configuration is error free

Member Data Documentation

◆ abeta

base::Vector3d imumodel::Configuration::abeta

is the reciprocal correlated noise for the bias instability approximation by first Guass-Markov process and need to be determinated

◆ accbias

base::Vector3d imumodel::Configuration::accbias

bias instability for accelerometers (m/s^2)

◆ accrrw

base::Vector3d imumodel::Configuration::accrrw

acceleration random walk for accelerometers (m/s^2/sqrt(s))

◆ accrw

base::Vector3d imumodel::Configuration::accrw

velocity random walk for accelerometers (m/s/sqrt(s))

◆ Dacc

base::Matrix3d imumodel::Configuration::Dacc

Deterministic error matrix containing scale factor and misalignement

◆ Dgyro

base::Matrix3d imumodel::Configuration::Dgyro

Deterministic error matrix containing scale factor and misalignement

◆ dt

double imumodel::Configuration::dt

Frequency of the sampling time of the imu values.

◆ gbeta

base::Vector3d imumodel::Configuration::gbeta

is the reciprocal correlated noise (1/sec) for the bias instability approximation by first Guass-Markov process and need to be determinated

◆ gyrobias

base::Vector3d imumodel::Configuration::gyrobias

bias instability for gyroscopes (rad/s)

◆ gyrorrw

base::Vector3d imumodel::Configuration::gyrorrw

rate random walk for gyroscopes (rad/s/sqrt(s))

◆ gyrorw

base::Vector3d imumodel::Configuration::gyrorw

angle random walk for gyroscopes (rad/sqrt(s))

◆ seed

int imumodel::Configuration::seed

Random seed to be used for random number generation. Use -1 to initialize seed with current time.

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

/build/rock-master-18.09-simulation-imumodel-0.20160711/src/ImuError.hpp

Public Member Functions

Public Attributes