imumodel::ImuError Class Reference

#include <ImuError.hpp>

Public Member Functions
void	init ()
void	reset ()
void	step ()
void	addNoise (base::samples::IMUSensors &imu_sample)
void	setConfiguration (const Configuration &config)
const Configuration &	getConfiguration () const
Configuration &	getConfiguration ()
base::Vector3d	getGyroError () const

Static Public Attributes
static const int	NUMAXIS = 3

Protected Types
typedef boost::mt19937	RandomGenerator

Protected Member Functions
double	GetNormalDistri (double mean, double sigma)

Protected Attributes
Configuration	config
base::Vector2d	xax
base::Vector2d	xay
base::Vector2d	xaz
base::Matrix2d	Aax
base::Vector2d	Gax
base::Matrix2d	Aay
base::Vector2d	Gay
base::Matrix2d	Aaz
base::Vector2d	Gaz
base::Vector2d	Ha
base::Vector2d	xgx
base::Vector2d	xgy
base::Vector2d	xgz
base::Matrix2d	Agx
base::Vector2d	Ggx
base::Matrix2d	Agy
base::Vector2d	Ggy
base::Matrix2d	Agz
base::Vector2d	Ggz
base::Vector2d	Hg
Eigen::Matrix< double, NUMAXIS, 1 >	acc
Eigen::Matrix< double, NUMAXIS, 1 >	gyros
Eigen::Matrix< double, NUMAXIS, NUMAXIS >	Dacc
Eigen::Matrix< double, NUMAXIS, NUMAXIS >	Dgyro
RandomGenerator	rng

Member Typedef Documentation

typedef boost::mt19937 imumodel::ImuError::RandomGenerator

protected

Member Function Documentation

void ImuError::addNoise

(

base::samples::IMUSensors &

imu_sample

)

Include the deterministic error to the model (accelerometer and gyroscopes)

const Configuration & ImuError::getConfiguration

(

)

const

Configuration & ImuError::getConfiguration

(

)

base::Vector3d ImuError::getGyroError

(

)

const

double ImuError::GetNormalDistri ( double  mean, double  sigma  )

protected

void ImuError::init

(

)

Fill the matrices with the configure values for the accelerometer model X axis

Fill the matrices with the configure values for the accelerometer model Y axis

Fill the matrices with the configure values for the accelerometer model Z axis

Measurement matrix

Fill the matrices with the configure values for the gyroscope model X axis

Fill the matrices with the configure values for the gyroscope model Y axis

Fill the matrices with the configure values for the gyroscope model Z axis

Measurement matrix

deterministic matrices to zero

void ImuError::reset

(

)

Reset the state vectors and the output vectors

void ImuError::setConfiguration

(

const Configuration &

config

)

void ImuError::step

(

)

White noise for the Velocty Random Walk for accelerometers

Perform the model step for Accelerometers Xaxis

Perform the model step for Accelerometers Yaxis

Perform the model step for Accelerometers Zaxis

White noise for the Angular Random Walk for gyroscopes

Perform the model step for gyroscopes Xaxis

Perform the model step for gyroscopes Yaxis

Perform the model step for gyroscopes Zaxis

Member Data Documentation

base::Matrix2d imumodel::ImuError::Aax

protected

State Matrix for Accelerometer x axis

base::Matrix2d imumodel::ImuError::Aay

protected

State Matrix for Accelerometer y axis

base::Matrix2d imumodel::ImuError::Aaz

protected

State Matrix for Accelerometer z axis

Eigen::Matrix<double,NUMAXIS,1> imumodel::ImuError::acc

protected

base::Matrix2d imumodel::ImuError::Agx

protected

State Matrix for Gyro x axis

base::Matrix2d imumodel::ImuError::Agy

protected

State Matrix for Gyro y axis

base::Matrix2d imumodel::ImuError::Agz

protected

State Matrix for Gyro z axis

Configuration imumodel::ImuError::config

protected

Eigen::Matrix<double,NUMAXIS,NUMAXIS> imumodel::ImuError::Dacc

protected

Eigen::Matrix<double,NUMAXIS,NUMAXIS> imumodel::ImuError::Dgyro

protected

Deterministics error matrices for acc and gyros

base::Vector2d imumodel::ImuError::Gax

protected

Input Matrix for Accelerometer x axis

base::Vector2d imumodel::ImuError::Gay

protected

Input Matrix for Accelerometer y axis

base::Vector2d imumodel::ImuError::Gaz

protected

Input Matrix for Accelerometer z axis

base::Vector2d imumodel::ImuError::Ggx

protected

Input Matrix for Gyro x axis

base::Vector2d imumodel::ImuError::Ggy

protected

Input Matrix for Gyro y axis

base::Vector2d imumodel::ImuError::Ggz

protected

Input Matrix for Gyro z axis

Eigen::Matrix<double,NUMAXIS,1> imumodel::ImuError::gyros

protected

Accelerometer and gyroscopes output vectors

base::Vector2d imumodel::ImuError::Ha

protected

Observation Matrix for Accelerometers

base::Vector2d imumodel::ImuError::Hg

protected

Observation Matrix for Gyroscopes

const int imumodel::ImuError::NUMAXIS = 3

static

RandomGenerator imumodel::ImuError::rng

protected

base::Vector2d imumodel::ImuError::xax

protected

State vector for acc x axis model

base::Vector2d imumodel::ImuError::xay

protected

State vector for acc y axis model

base::Vector2d imumodel::ImuError::xaz

protected

State vector for acc z axis model

base::Vector2d imumodel::ImuError::xgx

protected

State vector for gyro x axis model

base::Vector2d imumodel::ImuError::xgy

protected

State vector for gyro y axis model

base::Vector2d imumodel::ImuError::xgz

protected

State vector for gyro z axis model

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

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