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13 #ifndef IMU_DYNAMICAL_SYSTEM_HPP
14 #define IMU_DYNAMICAL_SYSTEM_HPP
16 #include <state-observation/api.h>
50 virtual void setProcessNoise(
NoiseBase *);
52 virtual void resetProcessNoise();
54 virtual NoiseBase * getProcessNoise()
const;
57 virtual void setMeasurementNoise(
NoiseBase *);
59 virtual void resetMeasurementNoise();
61 virtual NoiseBase * getMeasurementNoise()
const;
64 virtual void setSamplingPeriod(
double dt);
67 virtual Index getStateSize()
const;
69 virtual Index getInputSize()
const;
71 virtual Index getMeasurementSize()
const;
74 void setWithGyroBias(
bool);
80 statesize_ = stateSizeBase_ + 3;
84 statesize_ = stateSizeBase_;
90 static const Index gyroBias = 18;
105 static const Index stateSizeBase_ = 18;
108 static const Index measurementSize_ = 6;
113 static constexpr
double one_ = 0.9999;
117 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
120 #endif // IMU-DYNAMICAL-SYSTEM_HPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Implements the accelerometer-gyrometer inertial measuremen.
Vector3Unaligned orientationVector_
Definition: imu-dynamical-system.hpp:100
This is the base class of any functor that describes the dynamics of the state and the measurement....
Definition: dynamical-system-functor-base.hpp:32
Definition: rigid-body-kinematics.hpp:319
Definition: imu-dynamical-system.hpp:88
Definition: noise-base.hpp:28
QuaternionUnaligned quaternion_
Definition: imu-dynamical-system.hpp:101
bool withGyroBias_
Definition: imu-dynamical-system.hpp:110
double dt_
Definition: imu-dynamical-system.hpp:98
Implements integrators for the kinematics, in terms or rotations and translations.
AccelerometerGyrometer sensor_
Definition: imu-dynamical-system.hpp:94
NoiseBase * processNoise_
Definition: imu-dynamical-system.hpp:96
long int TimeIndex
Definition: definitions.hpp:139
Eigen::Index Index
Definition: definitions.hpp:138
Eigen::Quaternion< double, Eigen::DontAlign > QuaternionUnaligned
Quaternion Unaligned.
Definition: definitions.hpp:130
Eigen::Matrix< double, 3, 1, Eigen::DontAlign > Vector3Unaligned
3D vector unaligned
Definition: definitions.hpp:88
Index statesize_
the state size may be bigger if the bias is considered
Definition: imu-dynamical-system.hpp:106
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Eigen::Quaterniond Quaternion
Quaternion.
Definition: definitions.hpp:127
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) ...
Definition: imu-dynamical-system.hpp:34
Implements the accelerometer-gyrometer measurements.
Definition: accelerometer-gyrometer.hpp:33
void updatestatesize()
Definition: imu-dynamical-system.hpp:76