Struct inertialsim::sensors::InertialSensorModel¶

ClassList > inertialsim > sensors > InertialSensorModel

Inertial sensor model options. More...

#include <model.h>

Inherits the following classes: inertialsim::sensors::SensorModel

Classes¶

Type	Name
struct	DataInterface Data interface simulation options for inertial sensors.
struct	Noise Noise simulation options for inertial sensors.

Public Functions¶

Type	Name
	InertialSensorModel () = default
virtual const DataInterface &	data_interface () override const Get the inertial data interface options (const).
virtual DataInterface &	data_interface () override Get the inertial data interface options (non-const).
virtual const Noise &	noise () override const Get the inertial noise options (const).
virtual Noise &	noise () override Get the inertial noise options (non-const).
void	reset () Reset model parameters to their defaults.
void	set_all (bool value) Set all boolean model parameters.

Public Functions inherited from inertialsim::sensors::SensorModel¶

See inertialsim::sensors::SensorModel

Type	Name
	SensorModel () = default
const Bias &	bias () const
Bias &	bias ()
virtual const DataInterface &	data_interface () const
virtual DataInterface &	data_interface ()
const InputLimits &	input_limits () const
InputLimits &	input_limits ()
const Misalignment &	misalignment () const
Misalignment &	misalignment ()
virtual const Noise &	noise () const
virtual Noise &	noise ()
void	reset () Reset model parameters to their defaults.
const ScaleFactor &	scale_factor () const
ScaleFactor &	scale_factor ()
void	set_all (bool value) Set all boolean model parameters.
virtual	~SensorModel () = default

Detailed Description¶

Specify model options for simulating inertial sensor errors and inertial sensor data interfaces. These model options are suitable for both gyro and accelerometer sensors. By default all supported sources of error are simulated. By default, delta angle and delta velocity data outputs are not simulated.

Note:

Default specifications: Sensor specification parameters default to zero (or identity). Unspecified parameters will have no effect on the simulation result regardless of the settings here.

Inherits from SensorModel to avoid duplication and leverage base configuration while extending DataInterface and Noise with inertial-specific options.

Public Functions Documentation¶

function InertialSensorModel¶

inertialsim::sensors::InertialSensorModel::InertialSensorModel () = default

function data_interface [½]¶

Get the inertial data interface options (const).

inline virtual const DataInterface & inertialsim::sensors::InertialSensorModel::data_interface () override const

Note:

Overrides base class with covariant return type.

Implements inertialsim::sensors::SensorModel::data_interface

function data_interface [2/2]¶

Get the inertial data interface options (non-const).

inline virtual DataInterface & inertialsim::sensors::InertialSensorModel::data_interface () override

Note:

Overrides base class with covariant return type.

Implements inertialsim::sensors::SensorModel::data_interface

function noise [½]¶

Get the inertial noise options (const).

inline virtual const Noise & inertialsim::sensors::InertialSensorModel::noise () override const

Note:

Overrides base class with covariant return type.

Implements inertialsim::sensors::SensorModel::noise

function noise [2/2]¶

Get the inertial noise options (non-const).

inline virtual Noise & inertialsim::sensors::InertialSensorModel::noise () override

Note:

Overrides base class with covariant return type.

Implements inertialsim::sensors::SensorModel::noise

function reset¶

Reset model parameters to their defaults.

void inertialsim::sensors::InertialSensorModel::reset ()

function set_all¶

Set all boolean model parameters.

void inertialsim::sensors::InertialSensorModel::set_all (
    bool value
)

All boolean model parameters will be set to the input value, true or false. Non-boolean options (like interpolator) will not be modified.

Parameters:

value true or false.

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