Class inertialsim::sensors::InertialSensorSpecification::Noise¶

ClassList > inertialsim > sensors > InertialSensorSpecification > Noise

Extended noise specification for inertial sensors. More...

#include <inertial_specification.h>

Inherits the following classes: inertialsim::sensors::SensorSpecification::Noise

Inherited by the following classes: inertialsim::sensors::AccelerometerSpecification::Noise, inertialsim::sensors::GyroSpecification::Noise

Public Functions¶

Type	Name
	Noise (int axes) Construct with default (zero) values.
const Parameter< SpecificationArray > &	bias_instability () const Get bias instability.
const Parameter< SpecificationArray > &	quantization () const Get quantization noise.
const Parameter< SpecificationArray > &	random_walk () const Get random walk (alias for noise_density).
const Parameter< SpecificationArray > &	rate_ramp () const Get rate ramp.
const Parameter< SpecificationArray > &	rate_random_walk () const Get rate random walk.
void	set_bias_instability (const Parameter< T > & param) Set bias instability.
void	set_quantization (const Parameter< T > & param) Set quantization noise.
void	set_random_walk (const Parameter< T > & param) Set random walk.
void	set_rate_ramp (const Parameter< T > & param) Set rate ramp.
void	set_rate_random_walk (const Parameter< T > & param) Set rate random walk.

Public Functions inherited from inertialsim::sensors::SensorSpecification::Noise¶

See inertialsim::sensors::SensorSpecification::Noise

Type	Name
	Noise (int axes) Construct with default (zero) values.
const Parameter< SpecificationArray > &	noise_density () const Get current noise density.
void	set_noise_density (const Parameter< T > & specification) Set noise density.
virtual	~Noise () = default

Protected Attributes¶

Type	Name
Parameter< SpecificationArray >	bias_instability_
Parameter< SpecificationArray >	quantization_
Parameter< SpecificationArray >	rate_ramp_
Parameter< SpecificationArray >	rate_random_walk_

Protected Attributes inherited from inertialsim::sensors::SensorSpecification::Noise¶

See inertialsim::sensors::SensorSpecification::Noise

Type	Name
int	axes_
Parameter< SpecificationArray >	noise_density_

Protected Functions¶

Type	Name
virtual void	set_bias_instability_impl (const Parameter< SpecificationArray > & param) = 0 Implementation of bias instability setter. Must validate units and set bias_instability_ member.
virtual void	set_quantization_impl (const Parameter< SpecificationArray > & param) = 0 Implementation of quantization setter. Must validate units and set quantization_ member.
virtual void	set_rate_ramp_impl (const Parameter< SpecificationArray > & param) = 0 Implementation of rate ramp setter. Must validate units and set rate_ramp_ member.
virtual void	set_rate_random_walk_impl (const Parameter< SpecificationArray > & param) = 0 Implementation of rate random walk setter. Must validate units and set rate_random_walk_ member.

Protected Functions inherited from inertialsim::sensors::SensorSpecification::Noise¶

See inertialsim::sensors::SensorSpecification::Noise

Type	Name
virtual void	set_noise_density_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of noise density setter. Must validate units and set noise_density_ member.

Detailed Description¶

Adds quantization, bias instability, rate random walk, and rate ramp to the base noise specification.

Public Functions Documentation¶

function Noise¶

Construct with default (zero) values.

inline explicit inertialsim::sensors::InertialSensorSpecification::Noise::Noise (
    int axes
)

Initializes all inertial noise terms to zero.

Parameters:

axes Number of sensor axes.

function bias_instability¶

Get bias instability.

inline const Parameter < SpecificationArray > & inertialsim::sensors::InertialSensorSpecification::Noise::bias_instability () const

Returns:

Parameter with bias instability in rate units.

function quantization¶

Get quantization noise.

inline const Parameter < SpecificationArray > & inertialsim::sensors::InertialSensorSpecification::Noise::quantization () const

Returns:

Optional parameter with quantization, or empty if not set.

function random_walk¶

Get random walk (alias for noise_density).

inline const Parameter < SpecificationArray > & inertialsim::sensors::InertialSensorSpecification::Noise::random_walk () const

Returns:

Parameter with random walk (angle random walk or ARW).

function rate_ramp¶

Get rate ramp.

inline const Parameter < SpecificationArray > & inertialsim::sensors::InertialSensorSpecification::Noise::rate_ramp () const

Returns:

Parameter with rate ramp coefficient.

function rate_random_walk¶

Get rate random walk.

inline const Parameter < SpecificationArray > & inertialsim::sensors::InertialSensorSpecification::Noise::rate_random_walk () const

Returns:

Parameter with rate random walk coefficient.

function set_bias_instability¶

Set bias instability.

template<typename T>
inline void inertialsim::sensors::InertialSensorSpecification::Noise::set_bias_instability (
    const Parameter < T > & param
)

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_quantization¶

Set quantization noise.

template<typename T>
inline void inertialsim::sensors::InertialSensorSpecification::Noise::set_quantization (
    const Parameter < T > & param
)

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_random_walk¶

Set random walk.

template<typename T>
inline void inertialsim::sensors::InertialSensorSpecification::Noise::set_random_walk (
    const Parameter < T > & param
)

Alias for set_noise_density to match inertial sensor terminology.

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_rate_ramp¶

Set rate ramp.

template<typename T>
inline void inertialsim::sensors::InertialSensorSpecification::Noise::set_rate_ramp (
    const Parameter < T > & param
)

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_rate_random_walk¶

Set rate random walk.

template<typename T>
inline void inertialsim::sensors::InertialSensorSpecification::Noise::set_rate_random_walk (
    const Parameter < T > & param
)

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

Protected Attributes Documentation¶

variable bias_instability_¶

Parameter<SpecificationArray> inertialsim::sensors::InertialSensorSpecification::Noise::bias_instability_;

variable quantization_¶

Parameter<SpecificationArray> inertialsim::sensors::InertialSensorSpecification::Noise::quantization_;

variable rate_ramp_¶

Parameter<SpecificationArray> inertialsim::sensors::InertialSensorSpecification::Noise::rate_ramp_;

variable rate_random_walk_¶

Parameter<SpecificationArray> inertialsim::sensors::InertialSensorSpecification::Noise::rate_random_walk_;

Protected Functions Documentation¶

function set_bias_instability_impl¶

Implementation of bias instability setter. Must validate units and set bias_instability_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::Noise::set_bias_instability_impl (
    const Parameter < SpecificationArray > & param
) = 0

function set_quantization_impl¶

Implementation of quantization setter. Must validate units and set quantization_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::Noise::set_quantization_impl (
    const Parameter < SpecificationArray > & param
) = 0

function set_rate_ramp_impl¶

Implementation of rate ramp setter. Must validate units and set rate_ramp_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::Noise::set_rate_ramp_impl (
    const Parameter < SpecificationArray > & param
) = 0

function set_rate_random_walk_impl¶

Implementation of rate random walk setter. Must validate units and set rate_random_walk_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::Noise::set_rate_random_walk_impl (
    const Parameter < SpecificationArray > & param
) = 0

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