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14 #ifndef IMU_DYNAMICAL_SYSTEM_HPP
15 #define IMU_DYNAMICAL_SYSTEM_HPP
17 #include <state-observation/api.h>
52 virtual void setProcessNoise(
NoiseBase *);
54 virtual void resetProcessNoise();
56 virtual NoiseBase * getProcessNoise()
const;
59 virtual void setMeasurementNoise(
NoiseBase *);
61 virtual void resetMeasurementNoise();
63 virtual NoiseBase * getMeasurementNoise()
const;
66 virtual void setSamplingPeriod(
double dt);
69 virtual Index getStateSize()
const;
71 virtual Index getInputSize()
const;
73 virtual Index getMeasurementSize()
const;
89 static const Index stateSize_ = 18;
90 static const Index inputSize_ = 0;
91 static const Index measurementSize_ = 9;
95 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
98 #endif // IMU-DYNAMICAL-SYSTEM_HPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Vector3Unaligned orientationVector_
Definition: imu-magnetometer-dynamical-system.hpp:84
The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) ...
Definition: imu-magnetometer-dynamical-system.hpp:36
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: noise-base.hpp:28
double dt_
Definition: imu-magnetometer-dynamical-system.hpp:82
Implements integrators for the kinematics, in terms or rotations and translations.
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
AccelerometerGyrometerMagnetometer sensor_
Definition: imu-magnetometer-dynamical-system.hpp:78
QuaternionUnaligned quaternion_
Definition: imu-magnetometer-dynamical-system.hpp:85
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
kine::indexes< kine::rotationVector > indexes
Definition: imu-magnetometer-dynamical-system.hpp:76
Implements the accelerometer-gyrometer-magnetometer measurements.
Definition: accelerometer-gyrometer-magnetometer.hpp:35
Implements the accelerometer-gyrometer-magnetometer inertial measurement unit.
NoiseBase * processNoise_
Definition: imu-magnetometer-dynamical-system.hpp:80