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10 #ifndef SIMULATIONACCELEROMETERGYROMETERSENSORHPP
11 #define SIMULATIONACCELEROMETERGYROMETERSENSORHPP
13 #include <boost/assert.hpp>
16 #include <state-observation/api.h>
45 matrixMode_ = matrixMode;
51 withGyroBias_ = withGyroBias;
57 withAcceleroBias_ = withAcceleroBias;
63 virtual Index getStateSize_()
const;
66 virtual Index getMeasurementSize_()
const;
68 virtual Vector computeNoiselessMeasurement_();
70 void updateStateSize_();
82 static const Index stateSize_ = 10;
83 static const Index stateSizeMatrix_ = 15;
84 static const Index measurementSize_ = 6;
91 #endif // SIMULATIONACCELEROMETERGYROMETERSENSORHPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
bool withAcceleroBias_
Definition: accelerometer-gyrometer.hpp:78
bool matrixMode_
Definition: accelerometer-gyrometer.hpp:80
Vector3 acc_
Definition: accelerometer-gyrometer.hpp:73
void setMatrixMode(bool matrixMode)
Definition: accelerometer-gyrometer.hpp:43
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
Implements the accelerometer algorithm.
Vector3 omega_
Definition: accelerometer-gyrometer.hpp:74
Eigen::Index Index
Definition: definitions.hpp:138
Implements the measurements given by an accelerometer.
Definition: linear-acceleration.hpp:28
Index currentStateSize_
Definition: accelerometer-gyrometer.hpp:86
Matrix3 r_
Definition: accelerometer-gyrometer.hpp:72
Vector output_
Definition: accelerometer-gyrometer.hpp:75
void setWithAcceleroBias(bool withAcceleroBias)
Definition: accelerometer-gyrometer.hpp:55
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Implements the gyrometer measurement algorithm.
Definition: rotation-velocity.hpp:28
virtual ~AccelerometerGyrometer()
Virtual destructor.
Definition: accelerometer-gyrometer.hpp:41
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
Gives a base class for algebraic sensors.
void setWithGyroBias(bool withGyroBias)
Definition: accelerometer-gyrometer.hpp:49
bool withGyroBias_
Definition: accelerometer-gyrometer.hpp:77
Implements the accelerometer-gyrometer measurements.
Definition: accelerometer-gyrometer.hpp:33