Class inertialsim::sensors::GyroSpecification¶

ClassList > inertialsim > sensors > GyroSpecification

#include <gyro_specification.h>

Inherits the following classes: inertialsim::sensors::InertialSensorSpecification

Classes¶

Type	Name
class	Bias Gyro bias specification.
class	DataInterface Gyro data interface specification.
class	InputLimits Gyro input limits specification.
class	Noise Gyro noise specification.

Public Attributes inherited from inertialsim::sensors::SensorSpecification¶

See inertialsim::sensors::SensorSpecification

Type	Name
std::string	manufacturer = `""`
std::string	model = `""`
std::string	version = `""`

Public Functions¶

Type	Name
	GyroSpecification (int axes=geometry::kNumCartesianAxes) Construct with default or specified number of axes.
virtual Bias &	bias () override Get bias specification.
virtual const Bias &	bias () override const
virtual DataInterface &	data_interface () override Get data interface specification.
virtual const DataInterface &	data_interface () override const
virtual InputLimits &	input_limits () override Get input limits specification.
virtual const InputLimits &	input_limits () override const
virtual Noise &	noise () override Get noise specification.
virtual const Noise &	noise () override const

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

See inertialsim::sensors::InertialSensorSpecification

Type	Name
	InertialSensorSpecification (int axes)
virtual DataInterface &	data_interface () override = 0 Get data interface specification with extended inertial sensor features.
virtual const DataInterface &	data_interface () override const = 0
virtual Noise &	noise () override = 0 Get noise specification with extended inertial sensor features.
virtual const Noise &	noise () override const = 0
	~InertialSensorSpecification () override

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

See inertialsim::sensors::SensorSpecification

Type	Name
	SensorSpecification (int axes=geometry::kNumCartesianAxes) Construct with specified number of axes.
int	axes () const Get number of sensor axes.
virtual Bias &	bias () = 0 Get bias specification.
virtual const Bias &	bias () const = 0
virtual DataInterface &	data_interface () = 0 Get data interface specification.
virtual const DataInterface &	data_interface () const = 0
virtual InputLimits &	input_limits () = 0 Get input limits specification.
virtual const InputLimits &	input_limits () const = 0
Misalignment &	misalignment () Get misalignment specification.
const Misalignment &	misalignment () const
virtual Noise &	noise () = 0 Get noise specification.
virtual const Noise &	noise () const = 0
ScaleFactor &	scale_factor () Get scale factor specification.
const ScaleFactor &	scale_factor () const
virtual	~SensorSpecification () = default

Detailed Description¶

A gyro specification includes the parameters required to simulate gyro response to ideal inputs. These include input limits, noise coefficients, biases, scale factors, and internal sensor misalignments.

By default the specification returns a perfect sensor whose output will precisely match its sensed input.

Public Functions Documentation¶

function GyroSpecification¶

Construct with default or specified number of axes.

inline explicit inertialsim::sensors::GyroSpecification::GyroSpecification (
    int axes=geometry::kNumCartesianAxes
)

Initializes all nested specification types (data_interface, input_limits, noise, bias) with matching number of axes.

Parameters:

axes Number of gyro axes (default: 3 for tri-axial sensor).

function bias [½]¶

Get bias specification.

inline virtual Bias & inertialsim::sensors::GyroSpecification::bias () override

Returns:

Reference to bias specification.

Implements inertialsim::sensors::SensorSpecification::bias

function bias [2/2]¶

inline virtual const Bias & inertialsim::sensors::GyroSpecification::bias () override const

Implements inertialsim::sensors::SensorSpecification::bias

function data_interface [½]¶

Get data interface specification.

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

Returns:

Reference to data interface specification.

Implements inertialsim::sensors::InertialSensorSpecification::data_interface

function data_interface [2/2]¶

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

Implements inertialsim::sensors::InertialSensorSpecification::data_interface

function input_limits [½]¶

Get input limits specification.

inline virtual InputLimits & inertialsim::sensors::GyroSpecification::input_limits () override

Returns:

Reference to input limits specification.

Implements inertialsim::sensors::SensorSpecification::input_limits

function input_limits [2/2]¶

inline virtual const InputLimits & inertialsim::sensors::GyroSpecification::input_limits () override const

Implements inertialsim::sensors::SensorSpecification::input_limits

function noise [½]¶

Get noise specification.

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

Returns:

Reference to noise specification.

Implements inertialsim::sensors::InertialSensorSpecification::noise

function noise [2/2]¶

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

Implements inertialsim::sensors::InertialSensorSpecification::noise

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