Class inertialsim::sensors::SensorSpecification::Bias¶

ClassList > inertialsim > sensors > SensorSpecification > Bias

#include <specification.h>

Inherited by the following classes: inertialsim::sensors::AccelerometerSpecification::Bias, inertialsim::sensors::GyroSpecification::Bias, inertialsim::sensors::MagnetometerSpecification::Bias

Public Functions¶

Type	Name
	Bias (int axes) Construct with default (zero) values.
const Parameter< SpecificationArray > &	fixed () const Get fixed bias.
const Parameter< SpecificationArray > &	repeatability () const Get bias repeatability (random component).
void	set_fixed (const Parameter< T > & specification) Set fixed bias.
void	set_repeatability (const Parameter< T > & specification) Set bias repeatability.
void	set_temperature (const Parameter< T > & specification) Set temperature bias.
const Parameter< SpecificationArray > &	temperature () const Get temperature-dependent bias coefficient.
virtual	~Bias () = default

Protected Attributes¶

Type	Name
int	axes_
Parameter< SpecificationArray >	fixed_
Parameter< SpecificationArray >	repeatability_
Parameter< SpecificationArray >	temperature_

Protected Functions¶

Type	Name
virtual void	set_fixed_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of fixed bias setter. Must validate units and set fixed_ member.
virtual void	set_repeatability_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of repeatability setter. Must validate units and set repeatability_ member.
virtual void	set_temperature_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of temperature bias setter. Must validate units and set temperature_ member.

Detailed Description¶

Bias is the non-zero output of a sensor at rest, or equivalently, the output that has no correlation with the input. It is comprised of a fixed component (that can be calibrated), a random component (that may vary from turn-on to turn-on or with changing conditions), and a temperature dependent component.

Public Functions Documentation¶

function Bias¶

Construct with default (zero) values.

inline explicit inertialsim::sensors::SensorSpecification::Bias::Bias (
    int axes
)

Parameters:

axes Number of sensor axes.

function fixed¶

Get fixed bias.

inline const Parameter < SpecificationArray > & inertialsim::sensors::SensorSpecification::Bias::fixed () const

Returns:

Parameter with fixed bias values.

function repeatability¶

Get bias repeatability (random component).

inline const Parameter < SpecificationArray > & inertialsim::sensors::SensorSpecification::Bias::repeatability () const

Returns:

Parameter with bias repeatability (standard deviation).

function set_fixed¶

Set fixed bias.

template<typename T>
inline void inertialsim::sensors::SensorSpecification::Bias::set_fixed (
    const Parameter < T > & specification
)

A fixed bias that is constant across all conditions. For many sensors, this may be removed by factory calibration in which case this parameter can represent any known residual error in that calibration.

Parameters:

specification Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_repeatability¶

Set bias repeatability.

template<typename T>
inline void inertialsim::sensors::SensorSpecification::Bias::set_repeatability (
    const Parameter < T > & specification
)

The standard deviation of a random bias component that varies with each turn-on of the sensor and/or varies across external conditions. This parameter may represent unknown residuals from the factory calibration of a fixed bias.

Parameters:

specification Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_temperature¶

Set temperature bias.

template<typename T>
inline void inertialsim::sensors::SensorSpecification::Bias::set_temperature (
    const Parameter < T > & specification
)

A linear coefficient relating change in sensor temperature to a change in bias.

Parameters:

specification Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function temperature¶

Get temperature-dependent bias coefficient.

inline const Parameter < SpecificationArray > & inertialsim::sensors::SensorSpecification::Bias::temperature () const

Returns:

Parameter with temperature bias coefficient.

function ~Bias¶

virtual inertialsim::sensors::SensorSpecification::Bias::~Bias () = default

Protected Attributes Documentation¶

variable axes_¶

int inertialsim::sensors::SensorSpecification::Bias::axes_;

variable fixed_¶

Parameter<SpecificationArray> inertialsim::sensors::SensorSpecification::Bias::fixed_;

variable repeatability_¶

Parameter<SpecificationArray> inertialsim::sensors::SensorSpecification::Bias::repeatability_;

variable temperature_¶

Parameter<SpecificationArray> inertialsim::sensors::SensorSpecification::Bias::temperature_;

Protected Functions Documentation¶

function set_fixed_impl¶

Implementation of fixed bias setter. Must validate units and set fixed_ member.

virtual void inertialsim::sensors::SensorSpecification::Bias::set_fixed_impl (
    const Parameter < SpecificationArray > & specification
) = 0

function set_repeatability_impl¶

Implementation of repeatability setter. Must validate units and set repeatability_ member.

virtual void inertialsim::sensors::SensorSpecification::Bias::set_repeatability_impl (
    const Parameter < SpecificationArray > & specification
) = 0

function set_temperature_impl¶

Implementation of temperature bias setter. Must validate units and set temperature_ member.

virtual void inertialsim::sensors::SensorSpecification::Bias::set_temperature_impl (
    const Parameter < SpecificationArray > & specification
) = 0

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