Class inertialsim::sensors::InertialSensor¶

ClassList > inertialsim > sensors > InertialSensor

Base class for inertial sensors (gyros and accelerometers). More...

#include <inertial_sensor.h>

Inherits the following classes: inertialsim::sensors::Sensor

Inherited by the following classes: inertialsim::sensors::Accelerometer, inertialsim::sensors::Gyro

Public Functions¶

Type	Name
	InertialSensor (const InertialSensorModel & model, const InertialSensorSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt) Construct an InertialSensor .
virtual const InertialSensorModel &	model () override const Get the inertial sensor model.
virtual const InertialSensorSpecification &	specification () override const Get the inertial sensor specification.
virtual InertialSensorState &	state () override Get the inertial sensor state.
virtual const InertialSensorState &	state () override const
	~InertialSensor () override

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

See inertialsim::sensors::Sensor

Type	Name
	Sensor (const SensorModel & model, const SensorSpecification & specification, std::optional< uint64_t > seed=std::nullopt, SimulationMode mode=SimulationMode::BATCH, std::optional< double > max_duration=std::nullopt) Construct a Sensor .
virtual const SensorModel &	model () const Get the sensor model.
const std::mt19937_64 &	rng () const Get the rng generator.
virtual const SensorSpecification &	specification () const Get the sensor specification.
virtual SensorState &	state () Get the sensor state.
virtual const SensorState &	state () const
virtual	~Sensor () = default

Public Static Functions inherited from inertialsim::sensors::Sensor¶

See inertialsim::sensors::Sensor

Type	Name
Array	ApplyQuantization (const Array & signal, const SpecificationArray & quantization) Apply quantization to a signal.

Detailed Description¶

Extends Sensor with additional noise sources and delta output support.

Public Functions Documentation¶

function InertialSensor¶

Construct an InertialSensor .

inertialsim::sensors::InertialSensor::InertialSensor (
    const  InertialSensorModel & model,
    const  InertialSensorSpecification & specification,
    std::optional< uint64_t > seed=std::nullopt,
    SimulationMode mode=SimulationMode::BATCH,
    std::optional< double > max_duration=std::nullopt
)

Parameters:

model Model options.
specification Sensor specification.
seed Random number generator seed. If not provided (std::nullopt), the RNG is seeded with fresh randomness from std::random_device.
mode Simulation mode (batch or real-time).
max_duration Maximum simulation duration in seconds.

function model¶

Get the inertial sensor model.

inline virtual const  InertialSensorModel & inertialsim::sensors::InertialSensor::model () override const

Returns:

Inertial sensor model.

Implements inertialsim::sensors::Sensor::model

function specification¶

Get the inertial sensor specification.

inline virtual const  InertialSensorSpecification & inertialsim::sensors::InertialSensor::specification () override const

Returns:

Inertial sensor specification.

Implements inertialsim::sensors::Sensor::specification

function state [1/2]¶

Get the inertial sensor state.

inline virtual InertialSensorState & inertialsim::sensors::InertialSensor::state () override

Returns:

Inertial sensor state.

Implements inertialsim::sensors::Sensor::state

function state [2/2]¶

inline virtual const  InertialSensorState & inertialsim::sensors::InertialSensor::state () override const

Implements inertialsim::sensors::Sensor::state

function ~InertialSensor¶

inertialsim::sensors::InertialSensor::~InertialSensor () override

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