The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer. More...

#include <imu-mltpctive-dynamical-system.hpp>

Inheritance diagram for stateObservation::IMUMltpctiveDynamicalSystem:

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Collaboration diagram for stateObservation::IMUMltpctiveDynamicalSystem:

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Classes
struct	opt

Public Member Functions
	IMUMltpctiveDynamicalSystem ()
	The constructor.
virtual	~IMUMltpctiveDynamicalSystem ()
	The virtual destructor.
virtual Vector	stateDynamics (const Vector &x, const Vector &u, TimeIndex k)
	Description of the state dynamics.
virtual Vector	measureDynamics (const Vector &x, const Vector &u, TimeIndex k)
	Description of the sensor's dynamics.
virtual void	setProcessNoise (NoiseBase *)
	Sets a noise which disturbs the state dynamics.
virtual void	resetProcessNoise ()
	Removes the process noise.
virtual NoiseBase *	getProcessNoise () const
	Gets the process noise.
virtual void	setMeasurementNoise (NoiseBase *)
	Sets a noise which disturbs the measurements.
virtual void	resetMeasurementNoise ()
	Removes the measurement noise.
virtual NoiseBase *	getMeasurementNoise () const
	Gets a pointer on the measurement noise.
virtual void	setSamplingPeriod (double dt)
	Set the period of the time discretization.
virtual Matrix	getAMatrix (const Vector &xh)
virtual Matrix	getCMatrix (const Vector &xp)
virtual Index	getStateSize () const
	Gets the state size.
virtual Index	getInputSize () const
	Gets the input size.
virtual Index	getMeasurementSize () const
	Gets the measurement size.
void	stateSum (const Vector &stateVector, const Vector &tangentVector, Vector &sum)
void	stateDifference (const Vector &stateVector1, const Vector &stateVector2, Vector &difference)
Public Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
virtual void	reset ()
virtual bool	checkStateVector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be a state vector.
virtual bool	checkInputvector (const Vector &)
	Gives a boolean answer on whether or not the vector is correctly sized to be an input vector.
Public Member Functions inherited from stateObservation::StateVectorArithmetics
virtual void	measurementDifference (const Vector &measureVector1, const Vector &measureVector2, Vector &difference)

Protected Types
typedef kine::indexes< kine::quaternion >	indexes
typedef kine::indexes< kine::rotationVector >	indexesTangent

Protected Attributes
struct stateObservation::IMUMltpctiveDynamicalSystem::opt	opt_
AccelerometerGyrometer	sensor_
NoiseBase *	processNoise_
double	dt_

Static Protected Attributes
static const Index	stateSize_ = 19
static const Index	stateTangentSize_ = 18
static const Index	inputSize_ = 6
static const Index	measurementSize_ = 6

Additional Inherited Members
Protected Member Functions inherited from stateObservation::DynamicalSystemFunctorBase
void	assertStateVector_ (const Vector &v)
void	assertInputVector_ (const Vector &v)

Detailed Description

The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) fixed on a rigid body. The state is the position velocity and acceleration and the orientaion and rotation velocity and acceleration. The sensors are the accelerometer and the gyrometer.

Definition at line 35 of file imu-mltpctive-dynamical-system.hpp.