The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state value and the current time and do not have internal dynamics (or a dynamics which converges fast enough to be ignored). This class implements mostly the containers and the interface to algebraic sensors. Algebraic sensors must be derived from this class. More...

#include <algebraic-sensor.hpp>

Inheritance diagram for stateObservation::AlgebraicSensor:

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Collaboration diagram for stateObservation::AlgebraicSensor:

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Public Member Functions
	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 Vector	computeNoiselessMeasurement_ ()=0
virtual Index	getStateSize_ () const =0
virtual Index	getMeasurementSize_ () const =0
Vector	computeNoisyMeasurement_ ()
virtual void	checkState_ (const Vector &)

Protected Attributes
TimeIndex	time_
Index	concat_
Vector	state_
Vector	directInputToOutput_
bool	storedNoisyMeasurement_
Vector	noisyMeasurement_
bool	storedNoiselessMeasurement_
Vector	noiselessMeasurement_
Protected Attributes inherited from stateObservation::SensorBase
NoiseBase *	noise_

Detailed Description

The base class for algebraic sensors. Algebraic sensors are sensors which depend only on the state value and the current time and do not have internal dynamics (or a dynamics which converges fast enough to be ignored). This class implements mostly the containers and the interface to algebraic sensors. Algebraic sensors must be derived from this class.

Definition at line 34 of file algebraic-sensor.hpp.

Constructor & Destructor Documentation

◆ ~AlgebraicSensor()

virtual stateObservation::AlgebraicSensor::~AlgebraicSensor ( )

inlinevirtual

virtual destructor

Definition at line 41 of file algebraic-sensor.hpp.

Member Function Documentation

◆ getMeasurements()

virtual Vector stateObservation::AlgebraicSensor::getMeasurements ( bool noisy = true )

virtual

gets the measurement of the current time. We can choose to consider noise or not (default is noisy)

Implements stateObservation::SensorBase.

◆ setState()

virtual void stateObservation::AlgebraicSensor::setState	(	const Vector &	state,
		TimeIndex	k )

virtual

Sets the value of the state at instant k.

Implements stateObservation::SensorBase.

◆ getTime()

virtual TimeIndex stateObservation::AlgebraicSensor::getTime ( ) const

virtual

gets the current time

Implements stateObservation::SensorBase.

◆ getStateSize()

virtual Index stateObservation::AlgebraicSensor::getStateSize ( ) const

virtual

gets the state vector size. Pure virtual method.

Implements stateObservation::SensorBase.

◆ getMeasurementSize()

virtual Index stateObservation::AlgebraicSensor::getMeasurementSize ( ) const

virtual

get the size of the measurements. Pure virtual method.

Implements stateObservation::SensorBase.

◆ concatenateWithInput()

virtual Index stateObservation::AlgebraicSensor::concatenateWithInput ( Index n )

virtual

concatenates the n last components of the state in the measurement (useful when the measurements are already computed or when they come from external source)

◆ computeNoiselessMeasurement_()

virtual Vector stateObservation::AlgebraicSensor::computeNoiselessMeasurement_ ( )

protectedpure virtual

the actual algorithm for the computation of the measurements, must be overloaded to implement any sensor

Implemented in stateObservation::AccelerometerGyrometer, and stateObservation::AccelerometerGyrometerMagnetometer.

◆ getStateSize_()

virtual Index stateObservation::AlgebraicSensor::getStateSize_ ( ) const

protectedpure virtual

Implemented in stateObservation::AccelerometerGyrometer, and stateObservation::AccelerometerGyrometerMagnetometer.

◆ getMeasurementSize_()

virtual Index stateObservation::AlgebraicSensor::getMeasurementSize_ ( ) const

protectedpure virtual

Implemented in stateObservation::AccelerometerGyrometer, and stateObservation::AccelerometerGyrometerMagnetometer.

Member Data Documentation

◆ time_

TimeIndex stateObservation::AlgebraicSensor::time_

protected

Definition at line 77 of file algebraic-sensor.hpp.

◆ concat_

Index stateObservation::AlgebraicSensor::concat_

protected

Definition at line 79 of file algebraic-sensor.hpp.

◆ state_

Vector stateObservation::AlgebraicSensor::state_

protected

Definition at line 81 of file algebraic-sensor.hpp.

◆ directInputToOutput_

Vector stateObservation::AlgebraicSensor::directInputToOutput_

protected

Definition at line 83 of file algebraic-sensor.hpp.

◆ storedNoisyMeasurement_

bool stateObservation::AlgebraicSensor::storedNoisyMeasurement_

protected

Definition at line 85 of file algebraic-sensor.hpp.

◆ noisyMeasurement_

Vector stateObservation::AlgebraicSensor::noisyMeasurement_

protected

Definition at line 87 of file algebraic-sensor.hpp.

◆ storedNoiselessMeasurement_

bool stateObservation::AlgebraicSensor::storedNoiselessMeasurement_

protected

Definition at line 89 of file algebraic-sensor.hpp.

◆ noiselessMeasurement_

Vector stateObservation::AlgebraicSensor::noiselessMeasurement_

protected

Definition at line 91 of file algebraic-sensor.hpp.

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

/build/source/include/state-observation/sensors-simulation/algebraic-sensor.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~AlgebraicSensor()

Member Function Documentation

◆ getMeasurements()

◆ setState()

◆ getTime()

◆ getStateSize()

◆ getMeasurementSize()

◆ concatenateWithInput()

◆ computeNoiselessMeasurement_()

◆ getStateSize_()

◆ getMeasurementSize_()

Member Data Documentation

◆ time_

◆ concat_

◆ state_

◆ directInputToOutput_

◆ storedNoisyMeasurement_

◆ noisyMeasurement_

◆ storedNoiselessMeasurement_

◆ noiselessMeasurement_