Namespace inertialsim::analysis¶

Namespace List > inertialsim > analysis

Inertial sensor analysis tools. More...

Classes¶

Type	Name
class	AllanDeviation Allan deviation (variance) analysis of random noise.
struct	NoiseModel Noise parameters to include when fitting Allan deviation model.

Public Functions¶

Type	Name
bool	ArrayClose (const Eigen::DenseBase< DerivedA > & test_input, const Eigen::DenseBase< DerivedB > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare if two arrays are element-wise equal within a tolerance.
bool	ArrayClose (const std::optional< Array > & test_input, const std::optional< Array > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare two optional arrays for closeness within tolerance (ArrayXd).
bool	ArrayClose (const std::optional< Matrix > & test_input, const std::optional< Matrix > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare two optional matrices for closeness within tolerance (MatrixXd).
bool	ArrayClose (const std::optional< SpecificationArray > & test_input, const std::optional< SpecificationArray > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare two optional specification arrays for closeness within tolerance.
bool	ArrayEqual (const Eigen::DenseBase< DerivedA > & test_input, const Eigen::DenseBase< DerivedB > & expected, bool equal_nan=false) Compare for strict equality of two arrays (shape and contents).
bool	ArrayEqual (const std::optional< Array > & test_input, const std::optional< Array > & expected, bool equal_nan=false) Compare two optional arrays for strict equality (ArrayXd).
bool	ArrayEqual (const std::optional< Matrix > & test_input, const std::optional< Matrix > & expected, bool equal_nan=false) Compare two optional arrays for strict equality (MatrixXd).
bool	ArrayEqual (const std::optional< SpecificationArray > & test_input, const std::optional< SpecificationArray > & expected, bool equal_nan=false) Compare two optional specification arrays for strict equality.

Detailed Description¶

The analysis module provides classes and methods to:

calculate Allan deviation (the standard method of characterizing random error in inertial sensors)
fit parametric models to Allan deviation data

Public Functions Documentation¶

function ArrayClose¶

Compare if two arrays are element-wise equal within a tolerance.

template<typename DerivedA, typename DerivedB>
bool inertialsim::analysis::ArrayClose (
    const Eigen::DenseBase< DerivedA > & test_input,
    const Eigen::DenseBase< DerivedB > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

Matches the behavior of numpy.allclose. absolute(a - b) <= (atol + rtol * absolute(b))

Parameters:

test_input Test array.
expected Reference array.
atol Absolute tolerance. Defaults to geometry::kDefaultFpTolerance.
rtol Relative tolerance. Defaults to 0.0 for exact comparison.
equal_nan Consider NaNs as equal.

Returns:

True if arrays are equal within tolerance.

function ArrayClose¶

Compare two optional arrays for closeness within tolerance (ArrayXd).

inline bool inertialsim::analysis::ArrayClose (
    const std::optional< Array > & test_input,
    const std::optional< Array > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayClose.

Parameters:

test_input Optional test array.
expected Optional reference array.
atol Absolute tolerance.
rtol Relative tolerance.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have values close within tolerance.

function ArrayClose¶

Compare two optional matrices for closeness within tolerance (MatrixXd).

inline bool inertialsim::analysis::ArrayClose (
    const std::optional< Matrix > & test_input,
    const std::optional< Matrix > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayClose.

Parameters:

test_input Optional test matrix.
expected Optional reference matrix.
atol Absolute tolerance.
rtol Relative tolerance.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have values close within tolerance.

function ArrayClose¶

Compare two optional specification arrays for closeness within tolerance.

inline bool inertialsim::analysis::ArrayClose (
    const std::optional< SpecificationArray > & test_input,
    const std::optional< SpecificationArray > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayClose.

Parameters:

test_input Optional test array.
expected Optional reference array.
atol Absolute tolerance.
rtol Relative tolerance.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have values close within tolerance.

function ArrayEqual¶

Compare for strict equality of two arrays (shape and contents).

template<typename DerivedA, typename DerivedB>
bool inertialsim::analysis::ArrayEqual (
    const Eigen::DenseBase< DerivedA > & test_input,
    const Eigen::DenseBase< DerivedB > & expected,
    bool equal_nan=false
)

Parameters:

test_input Test array.
expected Reference array.
equal_nan Consider NaNs as equal.

Returns:

True if test_input and expected are equal.

function ArrayEqual¶

Compare two optional arrays for strict equality (ArrayXd).

inline bool inertialsim::analysis::ArrayEqual (
    const std::optional< Array > & test_input,
    const std::optional< Array > & expected,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayEqual.

Parameters:

test_input Optional test array.
expected Optional reference array.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have equal values.

function ArrayEqual¶

Compare two optional arrays for strict equality (MatrixXd).

inline bool inertialsim::analysis::ArrayEqual (
    const std::optional< Matrix > & test_input,
    const std::optional< Matrix > & expected,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayEqual.

Parameters:

test_input Optional test matrix.
expected Optional reference matrix.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have equal values.

function ArrayEqual¶

Compare two optional specification arrays for strict equality.

inline bool inertialsim::analysis::ArrayEqual (
    const std::optional< SpecificationArray > & test_input,
    const std::optional< SpecificationArray > & expected,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayEqual.

Parameters:

test_input Optional test array.
expected Optional reference array.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have equal values.

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