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13 #ifndef IMU_MULTIPLICATIVE_DYNAMICAL_SYSTEM_HPP
14 #define IMU_MULTIPLICATIVE_DYNAMICAL_SYSTEM_HPP
16 #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);
72 virtual Index getStateSize()
const;
74 virtual Index getInputSize()
const;
76 virtual Index getMeasurementSize()
const;
80 void stateDifference(
const Vector & stateVector1,
const Vector & stateVector2,
Vector & difference);
83 static const Index stateSize_ = 19;
84 static const Index stateTangentSize_ = 18;
85 static const Index inputSize_ = 6;
86 static const Index measurementSize_ = 6;
102 opt(
int stateSize,
int measurementSize) : AJacobian(stateSize, stateSize), CJacobian(measurementSize, stateSize)
105 AJacobian.block<3, 3>(indexesTangent::pos, indexesTangent::pos).setIdentity();
106 AJacobian.block<6, 6>(indexesTangent::linVel, indexesTangent::linVel).setIdentity();
120 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
123 #endif // IMU_MULTIPLICATIVE_DYNAMICAL_SYSTEM_HPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Implements the accelerometer-gyrometer inertial measuremen.
NoiseBase * processNoise_
Definition: imu-mltpctive-dynamical-system.hpp:114
This class is used to customize the way the difference between measurements, the state update functio...
Definition: state-vector-arithmetics.hpp:27
Matrix AJacobian
Definition: imu-mltpctive-dynamical-system.hpp:97
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
double dt_
Definition: imu-mltpctive-dynamical-system.hpp:116
Definition: rigid-body-kinematics.hpp:319
AccelerometerGyrometer sensor_
Definition: imu-mltpctive-dynamical-system.hpp:112
Definition: noise-base.hpp:28
The class is an implementation of the dynamical system defined by an inertial measurement unit (IMU) ...
Definition: imu-mltpctive-dynamical-system.hpp:35
kine::indexes< kine::quaternion > indexes
Definition: imu-mltpctive-dynamical-system.hpp:87
Implements integrators for the kinematics, in terms or rotations and translations.
Eigen::MatrixXd Matrix
Dynamic sized Matrix.
Definition: definitions.hpp:100
long int TimeIndex
Definition: definitions.hpp:139
Eigen::Matrix3d Matrix3
3x3 Scalar Matrix
Definition: definitions.hpp:109
Definition: imu-mltpctive-dynamical-system.hpp:90
Eigen::Index Index
Definition: definitions.hpp:138
Vector3 deltaR
Definition: imu-mltpctive-dynamical-system.hpp:95
opt(int stateSize, int measurementSize)
Definition: imu-mltpctive-dynamical-system.hpp:102
kine::indexes< kine::rotationVector > indexesTangent
Definition: imu-mltpctive-dynamical-system.hpp:88
Eigen::Vector3d Vector3
3D vector
Definition: definitions.hpp:85
Matrix3 Rt
Definition: imu-mltpctive-dynamical-system.hpp:100
Matrix CJacobian
Definition: imu-mltpctive-dynamical-system.hpp:98
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
Matrix3 jRv
Definition: imu-mltpctive-dynamical-system.hpp:93
Implements the accelerometer-gyrometer measurements.
Definition: accelerometer-gyrometer.hpp:33