Class inertialsim::sensors::InertialSensor

ClassList > inertialsim > sensors > InertialSensor

Base class for inertial sensors (gyros and accelerometers). More...

• #include <inertial_sensor.h>

Inherits the following classes: inertialsim::sensors::Sensor

Inherited by the following classes: inertialsim::sensors::Accelerometer, inertialsim::sensors::Gyro

Public Functions

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

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

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.

Detailed Description

Extends Sensor with additional noise sources and delta output support.

Public Functions Documentation

function InertialSensor

Construct an InertialSensor .

inertialsim::sensors::InertialSensor::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
) 

Parameters:

• model Model options.
• specification Sensor specification.
• seed Random number generator seed. If not provided (std::nullopt), the RNG is seeded with fresh randomness from std::random_device.
• mode Simulation mode (batch or real-time).
• max_duration Maximum simulation duration in seconds.

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function model

Get the inertial sensor model.

inline virtual const InertialSensorModel & inertialsim::sensors::InertialSensor::model () override const

Returns:

Inertial sensor model.

Implements inertialsim::sensors::Sensor::model

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function specification

Get the inertial sensor specification.

inline virtual const InertialSensorSpecification & inertialsim::sensors::InertialSensor::specification () override const

Returns:

Inertial sensor specification.

Implements inertialsim::sensors::Sensor::specification

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function state [½]

Get the inertial sensor state.

inline virtual InertialSensorState & inertialsim::sensors::InertialSensor::state () override

Returns:

Inertial sensor state.

Implements inertialsim::sensors::Sensor::state

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function state [2/2]

inline virtual const InertialSensorState & inertialsim::sensors::InertialSensor::state () override const

Implements inertialsim::sensors::Sensor::state

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function ~InertialSensor

inertialsim::sensors::InertialSensor::~InertialSensor () override

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Protected Attributes Documentation

variable bias_instability_buffer_

std::optional<Array> inertialsim::sensors::InertialSensor::bias_instability_buffer_;

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variable inertial_state_

InertialSensorState inertialsim::sensors::InertialSensor::inertial_state_;

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variable quantization_noise_buffer_

std::optional<Array> inertialsim::sensors::InertialSensor::quantization_noise_buffer_;

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variable rate_buffer_

std::vector<Measurement> inertialsim::sensors::InertialSensor::rate_buffer_;

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variable rate_ramp_buffer_

std::optional<Array> inertialsim::sensors::InertialSensor::rate_ramp_buffer_;

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variable rate_random_walk_buffer_

std::optional<Array> inertialsim::sensors::InertialSensor::rate_random_walk_buffer_;

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Protected Functions Documentation

function Initialize

Initialize the sensor for simulation.

virtual void inertialsim::sensors::InertialSensor::Initialize (
    int samples,
    double sample_rate
) override

Parameters:

• samples Number of samples to simulate.
• sample_rate Sample rate in Hz.

Implements inertialsim::sensors::Sensor::Initialize

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