Class inertialsim::sensors::SensorSpecification::Misalignment

ClassList > inertialsim > sensors > SensorSpecification > Misalignment

Misalignment specification.More...

• #include <specification.h>

Public Functions

Type	Name
	Misalignment (const int axes) Construct with default fixed misalignment (identity) and zero repeatability.
int	axes () const Get number of sensor axes.
const Parameter< Matrix > &	fixed () const Get fixed misalignment matrix.
const Parameter< Matrix > &	repeatability () const Get repeatability (random misalignment).
void	set_fixed (const Parameter< Matrix > & specification) Set fixed misalignment matrix.
void	set_repeatability (const Parameter< double > & specification) Set repeatability (random misalignment).
void	set_repeatability (const Parameter< SpecificationArray > & specification)

Detailed Description

Misalignment is the offset between the ideal orthogonal input reference axes (IRA) and the actual sensitive input axis (IA) of the sensor.

Public Functions Documentation

function Misalignment

Construct with default fixed misalignment (identity) and zero repeatability.

explicit inertialsim::sensors::SensorSpecification::Misalignment::Misalignment (
    const int axes
) 

Parameters:

• axes Number of sensor axes.

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function axes

Get number of sensor axes.

inline int inertialsim::sensors::SensorSpecification::Misalignment::axes () const

Returns:

Number of axes (typically 3 for tri-axial sensors).

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function fixed

Get fixed misalignment matrix.

inline const Parameter < Matrix > & inertialsim::sensors::SensorSpecification::Misalignment::fixed () const

Returns:

Matrix parameter with shape (axes, 3). Each row is a unit vector.

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function repeatability

Get repeatability (random misalignment).

inline const Parameter < Matrix > & inertialsim::sensors::SensorSpecification::Misalignment::repeatability () const

Returns:

Matrix parameter with shape (axes, 3) in radians.

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function set_fixed

Set fixed misalignment matrix.

void inertialsim::sensors::SensorSpecification::Misalignment::set_fixed (
    const Parameter < Matrix > & specification
) 

Validates that the input is a matrix with shape (axes, 3) where each row is a unit vector, and units are "dimensionless".

Parameters:

• specification Matrix parameter with shape (axes, 3) and "dimensionless" units.

Exception:

• std::invalid_argument if units are invalid.
• std::runtime_error if matrix shape or row norms are invalid.

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function set_repeatability [½]

Set repeatability (random misalignment).

void inertialsim::sensors::SensorSpecification::Misalignment::set_repeatability (
    const Parameter < double > & specification
) 

Accepts scalar or vector parameters and broadcasts to (axes, 3) matrix. Validates that units are "rad" or "deg" and converts to SI units.

Parameters:

• specification Scalar or vector Parameter with angle units.

Exception:

• std::invalid_argument if units are invalid.
• std::runtime_error if vector size doesn't match axes_.

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function set_repeatability [2/2]

void inertialsim::sensors::SensorSpecification::Misalignment::set_repeatability (
    const Parameter < SpecificationArray > & specification
) 

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