Class inertialsim::sensors::Sensor¶

ClassList > inertialsim > sensors > Sensor

Abstract base class for sensors. More...

#include <sensor.h>

Inherited by the following classes: inertialsim::sensors::InertialSensor, inertialsim::sensors::Magnetometer

Public Functions¶

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¶

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

Detailed Description¶

Sensors inherit common attributes and methods for simulating measurement errors including:

Misalignment (fixed axis orientation errors)
Input limits (minimum/maximum range constraints)
Bias (fixed + random + temperature-dependent)
Noise (white Gaussian, quantization, random walk, etc.)
Scale factor errors (fixed + random)
Quantization effects

The sensor simulation follows industry-standard error models documented in Standard [05] and related references.

Public Functions Documentation¶

function Sensor¶

Construct a Sensor .

inertialsim::sensors::Sensor::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
)

Initializes all error models based on the model and specification. Error sources are initialized in the following order: * Misalignment (6-axis model per Standard [05]) * Input limits * Bias (fixed + random initialization) * Noise (pre-computed buffer for efficiency) * Scale factor * Quantization

Parameters:

model Model options specifying which errors to simulate.
specification Sensor specification with error magnitudes.
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: Process all data at once (more efficient)
REALTIME: Process data incrementally (for online simulation)
max_duration Maximum simulation duration in seconds. Required for REALTIME mode to pre-allocate noise buffers.

function model¶

Get the sensor model.

inline virtual const  SensorModel & inertialsim::sensors::Sensor::model () const

Returns:

Sensor model.

function rng¶

Get the rng generator.

inline const std::mt19937_64 & inertialsim::sensors::Sensor::rng () const

Returns:

Random number generator.

function specification¶

Get the sensor specification.

inline virtual const  SensorSpecification & inertialsim::sensors::Sensor::specification () const

Returns:

Sensor specification.

function state [1/2]¶

Get the sensor state.

inline virtual SensorState & inertialsim::sensors::Sensor::state ()

Returns:

Current sensor state.

function state [2/2]¶

inline virtual const  SensorState & inertialsim::sensors::Sensor::state () const

function ~Sensor¶

virtual inertialsim::sensors::Sensor::~Sensor () = default

Public Static Functions Documentation¶

function ApplyQuantization¶

Apply quantization to a signal.

static Array inertialsim::sensors::Sensor::ApplyQuantization (
    const  Array & signal,
    const  SpecificationArray & quantization
)

Parameters:

signal Input signal (axes x samples).
quantization Quantization value per axis.

Returns:

Quantized signal.

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