accelerometer-gyrometer.hpp

Go to the documentation of this file.

 
#ifndef SIMULATIONACCELEROMETERGYROMETERSENSORHPP
#define SIMULATIONACCELEROMETERGYROMETERSENSORHPP
 
#include <boost/assert.hpp>
#include <Eigen/Core>
 
#include <state-observation/api.h>
#include <state-observation/sensors-simulation/algebraic-sensor.hpp>
#include <state-observation/sensors-simulation/algorithm/linear-acceleration.hpp>
#include <state-observation/sensors-simulation/algorithm/rotation-velocity.hpp>
 
namespace stateObservation
{
 
class STATE_OBSERVATION_DLLAPI AccelerometerGyrometer : public AlgebraicSensor,
                                                        protected algorithm::LinearAcceleration,
                                                        protected algorithm::RotationVelocity
{
public:
  AccelerometerGyrometer(bool matrixMode = false, bool withAcceleroBias = false, bool withGyroBias = false);

  virtual ~AccelerometerGyrometer() {}
 
  void setMatrixMode(bool matrixMode)
  {
    matrixMode_ = matrixMode;
    updateStateSize_();
  }
 
  void setWithGyroBias(bool withGyroBias)
  {
    withGyroBias_ = withGyroBias;
    updateStateSize_();
  }
 
  void setWithAcceleroBias(bool withAcceleroBias)
  {
    withAcceleroBias_ = withAcceleroBias;
    updateStateSize_();
  }
 
protected:
  virtual Index getStateSize_() const;

  virtual Index getMeasurementSize_() const;
 
  virtual Vector computeNoiselessMeasurement_();
 
  void updateStateSize_();
 
  Matrix3 r_;
  Vector3 acc_;
  Vector3 omega_;
  Vector output_;
 
  bool withGyroBias_;
  bool withAcceleroBias_;
 
  bool matrixMode_;
 
  static const Index stateSize_ = 10;
  static const Index stateSizeMatrix_ = 15;
  static const Index measurementSize_ = 6;
 
  Index currentStateSize_;
};
 
} // namespace stateObservation
 
#endif // SIMULATIONACCELEROMETERGYROMETERSENSORHPP