Implements the accelerometer-gyrometer measurements. More...

Inheritance diagram for stateObservation::AccelerometerGyrometer:

Collaboration diagram for stateObservation::AccelerometerGyrometer:

Public Member Functions
	AccelerometerGyrometer (bool matrixMode=false, bool withAcceleroBias=false, bool withGyroBias=false)
virtual	~AccelerometerGyrometer ()
	Virtual destructor.
void	setMatrixMode (bool matrixMode)
void	setWithGyroBias (bool withGyroBias)
void	setWithAcceleroBias (bool withAcceleroBias)
Public Member Functions inherited from stateObservation::AlgebraicSensor
	AlgebraicSensor ()
	Default constructor.
virtual	~AlgebraicSensor ()
	virtual destructor
virtual Vector	getMeasurements (bool noisy=true)
virtual void	setState (const Vector &state, TimeIndex k)
	Sets the value of the state at instant k.
virtual TimeIndex	getTime () const
	gets the current time
virtual Index	getStateSize () const
	gets the state vector size. Pure virtual method.
virtual Index	getMeasurementSize () const
	get the size of the measurements. Pure virtual method.
virtual Index	concatenateWithInput (Index n)
Public Member Functions inherited from stateObservation::SensorBase
	SensorBase ()
	default constructor
virtual	~SensorBase ()
	virtual destructor
virtual void	setNoise (NoiseBase *)
virtual NoiseBase *	getNoise () const
	gets the pointer on the measurements noise
virtual void	resetNoise ()
	removes the noise
virtual Vector	stateVectorZero () const
	gets a zero vector of the size of a state vector
virtual bool	checkStateVector (const Vector &) const
	checks whether a vector is correctly sized or not

Protected Member Functions
virtual Index	getStateSize_ () const
	Gets the state vector Size.
virtual Index	getMeasurementSize_ () const
	Gets the measurements vector size.
virtual Vector	computeNoiselessMeasurement_ ()
void	updateStateSize_ ()
Protected Member Functions inherited from stateObservation::AlgebraicSensor
Vector	computeNoisyMeasurement_ ()
virtual void	checkState_ (const Vector &)
Protected Member Functions inherited from stateObservation::algorithm::LinearAcceleration
virtual	~LinearAcceleration ()
	virtual destructor
Vector3	accelerationMeasure (const Vector3 &acceleration, const Matrix3 &orientation) const
	The acceleration measurement in the local frame represented by the orientation Matrix.
Protected Member Functions inherited from stateObservation::algorithm::RotationVelocity
virtual	~RotationVelocity ()
	virtual destructor
Vector3	rotationVelocityMeasure (const Vector3 &angVelocityVector, const Matrix3 &orientation) const
	The angular velocity measurement in the local frame represented by the orientation Matrix.

Protected Attributes
Matrix3	r_
Vector3	acc_
Vector3	omega_
Vector	output_
bool	withGyroBias_
bool	withAcceleroBias_
bool	matrixMode_
Index	currentStateSize_
Protected Attributes inherited from stateObservation::AlgebraicSensor
TimeIndex	time_
Index	concat_
Vector	state_
Vector	directInputToOutput_
bool	storedNoisyMeasurement_
Vector	noisyMeasurement_
bool	storedNoiselessMeasurement_
Vector	noiselessMeasurement_
Protected Attributes inherited from stateObservation::SensorBase
NoiseBase *	noise_