Struct inertialsim::sensors::Environment¶

ClassList > inertialsim > sensors > Environment

Environmental effects experienced by sensors. More...

#include <environment.h>

Public Attributes¶

Type	Name
std::optional< geometry::Vector >	acceleration Acceleration experienced by the sensor.
std::optional< Scalar1D >	temperature Temperature change experienced by the sensor.
std::optional< geometry::Vector >	vibration Vibration experienced by the sensor.

Public Functions¶

Type	Name
	Environment (std::optional< Scalar1D > temperature=std::nullopt, std::optional< geometry::Vector > acceleration=std::nullopt, std::optional< geometry::Vector > vibration=std::nullopt) Construct an Environment with optional environmental effects.

Detailed Description¶

Specify optional environmental effects on sensors. All fields must be specified as constants or as time-series values consistent with the primary input(s) to the sensor's simulate method.

Warning:

Acceleration effects Do not use the acceleration field to simulate accelerometer behavior. Use the primary inputs directly in the Accelerometer or IMU class instead. The acceleration field is intended for simulating the effect of acceleration on non-acceleration sensors (e.g. g-dependent gyroscope bias).

Public Attributes Documentation¶

variable acceleration¶

Acceleration experienced by the sensor.

std::optional<geometry::Vector> inertialsim::sensors::Environment::acceleration;

Specified as a vector (potentially time varying) in the sensor's input reference axes in units of m/s/s.

variable temperature¶

Temperature change experienced by the sensor.

std::optional<Scalar1D> inertialsim::sensors::Environment::temperature;

Temperature relative to the sensor's nominal operating temperature, in degrees C. Specified as a constant or time-series.

variable vibration¶

Vibration experienced by the sensor.

std::optional<geometry::Vector> inertialsim::sensors::Environment::vibration;

Squared vibration magnitude (power). This value can be calculated directly from a known vibration profile, or, for random vibrations, by integrating the power spectral density of the vibration over the frequency range of interest (resulting in the mean square value). Different vibration regimes can be simulated by specifying varying vibration magnitudes over time. For example, engine on/off in an automotive application or taxi and flight regimes in an aerospace application. Specified as a vector (potentially time varying) in the sensor's input reference axes in units of (m/s/s)².

Public Functions Documentation¶

function Environment¶

Construct an Environment with optional environmental effects.

inline explicit inertialsim::sensors::Environment::Environment (
    std::optional< Scalar1D > temperature=std::nullopt,
    std::optional< geometry::Vector > acceleration=std::nullopt,
    std::optional< geometry::Vector > vibration=std::nullopt
)

Parameters:

temperature Temperature change in degrees C (optional).
acceleration Acceleration in m/s/s (optional).
vibration Vibration in (m/s/s)^2 (optional).

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