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Class inertialsim::sensors::Magnetometer

ClassList > inertialsim > sensors > Magnetometer

Simulate magnetometer sensors. More...

  • #include <magnetometer.h>

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

Public Functions

Type Name
Magnetometer (const MagnetometerModel & model, const MagnetometerSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt)
Construct a Magnetometer from a model and specification.
MagnetometerData Simulate (const geometry::Vector & magnetic_field, const std::optional< Scalar1D > & temperature=std::nullopt)
Simulate magnetometer measurements from magnetic field Vector.
MagnetometerData Simulate (const geometry::Vector & magnetic_field, const geometry::Rotation & attitude, const std::optional< Scalar1D > & temperature=std::nullopt)
Simulate magnetometer measurements from magnetic field and attitude.
MagnetometerData Simulate (const geodesy::GlobalPose & global_pose, const geodesy::MagneticDatum & datum, std::optional< double > date=std::nullopt, const std::optional< Scalar1D > & temperature=std::nullopt)
Simulate magnetometer measurements from global pose.
~Magnetometer () 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::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::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

A magnetometer is a sensor that measures the component of the ambient magnetic field along its input axis(es). In Earth-based applications, the primary source of the magnetic field is Earth's core.

Public Functions Documentation

function Magnetometer

Construct a Magnetometer from a model and specification. 

inertialsim::sensors::Magnetometer::Magnetometer (
    const MagnetometerModel & model,
    const MagnetometerSpecification & specification,
    std::optional< uint64_t > seed=std::nullopt,
    SimulationMode mode=SimulationMode::BATCH,
    std::optional< double > max_duration=std::nullopt
)

Parameters:

  • model Magnetometer model options.
  • specification Magnetometer 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 (required for real-time mode).

function Simulate [⅓]

Simulate magnetometer measurements from magnetic field Vector. 

MagnetometerData inertialsim::sensors::Magnetometer::Simulate (
    const geometry::Vector & magnetic_field,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

The input Vector must be the magnetic field in magnetometer (sensor body) coordinates.

Parameters:

  • magnetic_field Magnetic field Vector with time in sensor frame.
  • temperature Optional temperature array.

Returns:

MagnetometerData with simulated measurements.

function Simulate [⅔]

Simulate magnetometer measurements from magnetic field and attitude. 

MagnetometerData inertialsim::sensors::Magnetometer::Simulate (
    const geometry::Vector & magnetic_field,
    const geometry::Rotation & attitude,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

The magnetic field is expected in a world frame. The attitude rotation transforms from world frame to sensor body frame.

Parameters:

  • magnetic_field Magnetic field Vector in world frame.
  • attitude Rotation from world frame to sensor body frame.
  • temperature Optional temperature array.

Returns:

MagnetometerData with simulated measurements.

Exception:

  • std::invalid_argument if attitude has no time.

function Simulate [3/3]

Simulate magnetometer measurements from global pose. 

MagnetometerData inertialsim::sensors::Magnetometer::Simulate (
    const geodesy::GlobalPose & global_pose,
    const geodesy::MagneticDatum & datum,
    std::optional< double > date=std::nullopt,
    const std::optional< Scalar1D > & temperature=std::nullopt
)

Magnetic field is computed from the global pose position using the World Magnetic Model. The pose must use Earth-referenced coordinates (GEODETIC, ECEF, or TOPOCENTRIC), not LOCAL or INERTIAL frames.

Parameters:

  • global_pose GlobalPose with attitude, position, and time.
  • datum Magnetic datum for the World Magnetic Model.
  • date Date as decimal year (e.g., 2025.5). If not provided, uses the default date for the datum.
  • temperature Optional temperature array.

Returns:

MagnetometerData with simulated measurements.

Exception:

  • std::invalid_argument if global_pose has no time.
  • std::invalid_argument if navigation frame is LOCAL or INERTIAL.

function ~Magnetometer

inertialsim::sensors::Magnetometer::~Magnetometer () override

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