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11 #ifndef SIMULATIONACCELEROMETERGYROMETERMAGNETOMETERSENSORHPP
12 #define SIMULATIONACCELEROMETERGYROMETERMAGNETOMETERSENSORHPP
14 #include <boost/assert.hpp>
17 #include <state-observation/api.h>
46 void setMatrixMode(
bool matrixMode);
50 virtual Index getStateSize_()
const;
53 virtual Index getMeasurementSize_()
const;
55 virtual Vector computeNoiselessMeasurement_();
65 static const Index stateSize_ = 10;
66 static const Index stateSizeMatrix_ = 15;
68 static const Index measurementSize_ = 9;
75 #endif // SIMULATIONACCELEROMETERGYROMETERMAGNETOMETERSENSORHPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Matrix3 r_
Definition: accelerometer-gyrometer-magnetometer.hpp:57
virtual ~AccelerometerGyrometerMagnetometer()
Virtual destructor.
Definition: accelerometer-gyrometer-magnetometer.hpp:44
The implementation of the algorithm of a rotation velocity sensor.
Eigen::Matrix3d Matrix3
3x3 Scalar Matrix
Definition: definitions.hpp:109
The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state va...
Definition: algebraic-sensor.hpp:34
Vector3 acc_
Definition: accelerometer-gyrometer-magnetometer.hpp:58
Implements the magnetic field algorithm.
Implements the measurements given by an magnetometer.
Definition: magnetic-field.hpp:28
Implements the accelerometer algorithm.
Eigen::Index Index
Definition: definitions.hpp:138
Implements the measurements given by an accelerometer.
Definition: linear-acceleration.hpp:28
Vector output_
Definition: accelerometer-gyrometer-magnetometer.hpp:61
Vector3 magne_
Definition: accelerometer-gyrometer-magnetometer.hpp:60
Vector3 omega_
Definition: accelerometer-gyrometer-magnetometer.hpp:59
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Implements the gyrometer measurement algorithm.
Definition: rotation-velocity.hpp:28
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
Gives a base class for algebraic sensors.
Index currentStateSize_
Definition: accelerometer-gyrometer-magnetometer.hpp:70
Implements the accelerometer-gyrometer-magnetometer measurements.
Definition: accelerometer-gyrometer-magnetometer.hpp:35
bool matrixMode_
Definition: accelerometer-gyrometer-magnetometer.hpp:63