Class inertialsim::sensors::Gyro¶

ClassList > inertialsim > sensors > Gyro

Simulate gyroscope (gyro) sensors. More...

#include <gyro.h>

Inherits the following classes: inertialsim::sensors::GyroImuComponents, inertialsim::sensors::InertialSensor

Public Attributes inherited from inertialsim::sensors::GyroImuComponents¶

See inertialsim::sensors::GyroImuComponents

Type	Name
std::optional< GyroModel >	owned_model_
std::optional< GyroSpecification >	owned_spec_

Public Functions¶

Type	Name
	Gyro (const GyroModel & model, const GyroSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt) Construct a Gyro from a gyro model and specification.
	Gyro (const IMUModel & model, const IMUSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt) Construct a Gyro from anIMU model and specification.
GyroData	Simulate (const geometry::Vector & angular_rate, const std::optional< Scalar1D > & temperature=std::nullopt) Simulate gyro measurements from angular rate Vector.
GyroData	Simulate (const geometry::Vector & angular_rate, const geodesy::GlobalPose & global_pose, const std::optional< Scalar1D > & temperature=std::nullopt) Simulate gyro measurements from angular rate and global pose.
GyroData	Simulate (const geometry::Rotation & attitude, const std::optional< Scalar1D > & temperature=std::nullopt) Simulate gyro measurements from attitude.
GyroData	Simulate (const geodesy::GlobalPose & global_pose, const std::optional< Scalar1D > & temperature=std::nullopt) Simulate gyro measurements from global pose.
virtual const GyroSpecification &	specification () override const Get the gyro specification (covariant override).
	~Gyro () override

Public Functions inherited from inertialsim::sensors::GyroImuComponents¶

See inertialsim::sensors::GyroImuComponents

Type	Name
	GyroImuComponents () = default
	GyroImuComponents (const IMUModel & model, const IMUSpecification & specification)

Public Functions inherited from inertialsim::sensors::InertialSensor¶

See inertialsim::sensors::InertialSensor

Type	Name
	InertialSensor (const InertialSensorModel & model, const InertialSensorSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt) Construct an InertialSensor .
virtual const InertialSensorModel &	model () override const Get the inertial sensor model.
virtual const InertialSensorSpecification &	specification () override const Get the inertial sensor specification.
virtual InertialSensorState &	state () override Get the inertial sensor state.
virtual const InertialSensorState &	state () override const
	~InertialSensor () override

Public Functions inherited from inertialsim::sensors::Sensor¶

See inertialsim::sensors::Sensor

Type	Name
	Sensor (const SensorModel & model, const SensorSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt) Construct a Sensor .
virtual const SensorModel &	model () const Get the sensor model.
const std::mt19937_64 &	rng () const Get the rng generator.
virtual const SensorSpecification &	specification () const Get the sensor specification.
virtual SensorState &	state () Get the sensor state.
virtual const SensorState &	state () const
virtual	~Sensor () = default

Public Static Functions inherited from inertialsim::sensors::Sensor¶

See inertialsim::sensors::Sensor

Type	Name
Array	ApplyQuantization (const Array & signal, const SpecificationArray & quantization) Apply quantization to a signal.

Protected Attributes inherited from inertialsim::sensors::InertialSensor¶

See inertialsim::sensors::InertialSensor

Type	Name
std::optional< Array >	bias_instability_buffer_
InertialSensorState	inertial_state_
std::optional< Array >	quantization_noise_buffer_
std::vector< Measurement >	rate_buffer_
std::optional< Array >	rate_ramp_buffer_
std::optional< Array >	rate_random_walk_buffer_

Protected Attributes inherited from inertialsim::sensors::Sensor¶

See inertialsim::sensors::Sensor

Type	Name
bool	initialized_
std::optional< double >	max_duration_
SimulationMode	mode_
const SensorModel &	model_
int	noise_index_
std::mt19937_64	rng_
double	sample_rate_
const SensorSpecification &	specification_
SensorState	state_
std::optional< Array >	wgn_buffer_

Protected Functions inherited from inertialsim::sensors::InertialSensor¶

See inertialsim::sensors::InertialSensor

Type	Name
virtual void	Initialize (int samples, double sample_rate) override Initialize the sensor for simulation.

Protected Functions inherited from inertialsim::sensors::Sensor¶

See inertialsim::sensors::Sensor

Type	Name
virtual void	Initialize (int samples, double sample_rate) Initialize the sensor for simulation.
void	SetBias () Set bias parameters.
void	SetInputLimits () Set input limit parameters.
void	SetMisalignment () Set misalignment parameters.
virtual void	SetNoise (Eigen::Index samples, double sample_rate) Set noise parameters.
virtual void	SetQuantization () Set quantization parameters.
void	SetScaleFactor () Set scale factor parameters.
void	SimulateBias (Array & signal, const std::optional< Scalar1D > & temperature=std::nullopt) Simulate bias.
Measurement	SimulateFromRate (const geometry::Vector & signal, const std::optional< Scalar1D > & temperature=std::nullopt) Simulate sensor errors on a rate signal.
void	SimulateInputLimits (Array & signal) Simulate input limits.
Array	SimulateMisalignment (const Vector3D & signal) Simulate axis misalignment.
virtual void	SimulateNoise (Array & signal) Simulate noise.
void	SimulateScaleFactor (Array & signal) Simulate scale factor.
geometry::Vector	ValidateInput (const geometry::Vector & signal) Validate and potentially interpolate input signal.

Protected Static Functions¶

Type	Name
std::optional< Measurement >	Preintegrate (const Measurement & angular_rate, int stride) Pre-integrate angular rates to delta angles (batch mode).

Detailed Description¶

A gyro is "an inertial sensor that measures angular rotation with respect to inertial space about its input axis(es)." [Standard 03].

Public Functions Documentation¶

function Gyro [½]¶

Construct a Gyro from a gyro model and specification.

inertialsim::sensors::Gyro::Gyro (
    const GyroModel & model,
    const GyroSpecification & specification,
    std::optional< uint64_t > seed=std::nullopt,
    SimulationMode mode=SimulationMode::BATCH,
    std::optional< double > max_duration=std::nullopt
)

Parameters:

model Gyro model options.
specification Gyro specification.
seed Random number generator seed (0 for random).
mode Simulation mode (batch or real-time).
max_duration Maximum simulation duration in seconds (required for real-time mode).

function Gyro [2/2]¶

Construct a Gyro from anIMU model and specification.

inertialsim::sensors::Gyro::Gyro (
    const IMUModel & model,
    const IMUSpecification & specification,
    std::optional< uint64_t > seed=std::nullopt,
    SimulationMode mode=SimulationMode::BATCH,
    std::optional< double > max_duration=std::nullopt
)

Parameters:

model IMU model options.
specification IMU specification.
seed Random number generator seed (0 for random).
mode Simulation mode (batch or real-time).
max_duration Maximum simulation duration in seconds.

function Simulate [¼]¶

Simulate gyro measurements from angular rate Vector.

GyroData inertialsim::sensors::Gyro::Simulate (
    const geometry::Vector & angular_rate,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

Parameters:

angular_rate Angular rate Vector with time.
temperature Optional temperature array.

Returns:

GyroData with simulated measurements.

function Simulate [2/4]¶

Simulate gyro measurements from angular rate and global pose.

GyroData inertialsim::sensors::Gyro::Simulate (
    const geometry::Vector & angular_rate,
    const geodesy::GlobalPose & global_pose,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

The input angular rate must be relative to an Earth-fixed navigation frame. Earth's rotation rate will be added based on the global_pose to produce angular rate relative to inertial space.

Parameters:

angular_rate Angular rate Vector with time (relative to Earth frame).
global_pose GlobalPose for Earth rate compensation.
temperature Optional temperature array.

Returns:

GyroData with simulated measurements.

function Simulate [¾]¶

Simulate gyro measurements from attitude.

GyroData inertialsim::sensors::Gyro::Simulate (
    const geometry::Rotation & attitude,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

Angular rate is numerically calculated from the attitude time series.

Parameters:

attitude Rotation sequence with time.
temperature Optional temperature array.

Returns:

GyroData with simulated measurements.

function Simulate [4/4]¶

Simulate gyro measurements from global pose.

GyroData inertialsim::sensors::Gyro::Simulate (
    const geodesy::GlobalPose & global_pose,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

Angular rate is computed from the pose's inertial angular rate, which includes the earth rate contribution.

Parameters:

global_pose GlobalPose with attitude and time information.
temperature Optional temperature array.

Returns:

GyroData with simulated measurements.

function specification¶

Get the gyro specification (covariant override).

inline virtual const GyroSpecification & inertialsim::sensors::Gyro::specification () override const

Returns:

Gyro specification.

Implements inertialsim::sensors::Sensor::specification

function ~Gyro¶

inertialsim::sensors::Gyro::~Gyro () override

Protected Static Functions Documentation¶

function Preintegrate¶

Pre-integrate angular rates to delta angles (batch mode).

static std::optional< Measurement > inertialsim::sensors::Gyro::Preintegrate (
    const Measurement & angular_rate,
    int stride
)

Static method for batch pre-integration.

Parameters:

angular_rate Angular rate measurement.
stride Integration stride.

Returns:

Delta angle measurement, or nullopt if insufficient samples.

The documentation for this class was generated from the following file cpp/include/inertialsim/sensors/gyro.h