Class inertialsim::sensors::InertialSensorSpecification::Bias¶

ClassList > inertialsim > sensors > InertialSensorSpecification > Bias

Extended bias specification for inertial sensors. More...

#include <inertial_specification.h>

Inherits the following classes: inertialsim::sensors::SensorSpecification::Bias

Inherited by the following classes: inertialsim::sensors::AccelerometerSpecification::Bias, inertialsim::sensors::GyroSpecification::Bias

Public Functions¶

Type	Name
	Bias (int axes) Construct with default (zero) values.
const Parameter< Matrix > &	acceleration () const Get acceleration-dependent bias.
void	set_acceleration (const Parameter< T > & param) Set acceleration-dependent bias.
void	set_vibration_rectification (const Parameter< T > & param) Set vibration rectification bias.
const Parameter< Matrix > &	vibration_rectification () const Get vibration rectification bias.

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

See inertialsim::sensors::SensorSpecification::Bias

Type	Name
	Bias (int axes) Construct with default (zero) values.
const Parameter< SpecificationArray > &	fixed () const Get fixed bias.
const Parameter< SpecificationArray > &	repeatability () const Get bias repeatability (random component).
void	set_fixed (const Parameter< T > & specification) Set fixed bias.
void	set_repeatability (const Parameter< T > & specification) Set bias repeatability.
void	set_temperature (const Parameter< T > & specification) Set temperature bias.
const Parameter< SpecificationArray > &	temperature () const Get temperature-dependent bias coefficient.
virtual	~Bias () = default

Protected Attributes¶

Type	Name
Parameter< Matrix >	acceleration_
Parameter< Matrix >	vibration_rectification_

Protected Attributes inherited from inertialsim::sensors::SensorSpecification::Bias¶

See inertialsim::sensors::SensorSpecification::Bias

Type	Name
int	axes_
Parameter< SpecificationArray >	fixed_
Parameter< SpecificationArray >	repeatability_
Parameter< SpecificationArray >	temperature_

Protected Functions¶

Type	Name
virtual void	set_acceleration_impl (const Parameter< Matrix > & param) = 0 Implementation of acceleration-dependent bias setter. Must validate units and set acceleration_ member.
virtual void	set_vibration_rectification_impl (const Parameter< Matrix > & param) = 0 Implementation of vibration rectification setter. Must validate units and set vibration_rectification_ member.

Protected Functions inherited from inertialsim::sensors::SensorSpecification::Bias¶

See inertialsim::sensors::SensorSpecification::Bias

Type	Name
virtual void	set_fixed_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of fixed bias setter. Must validate units and set fixed_ member.
virtual void	set_repeatability_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of repeatability setter. Must validate units and set repeatability_ member.
virtual void	set_temperature_impl (const Parameter< SpecificationArray > & specification) = 0 Implementation of temperature bias setter. Must validate units and set temperature_ member.

Detailed Description¶

Adds acceleration-dependent bias and vibration rectification terms to the base bias specification.

Public Functions Documentation¶

function Bias¶

Construct with default (zero) values.

inline explicit inertialsim::sensors::InertialSensorSpecification::Bias::Bias (
    int axes
)

Initializes acceleration-dependent bias and vibration rectification to zero.

Parameters:

axes Number of sensor axes.

function acceleration¶

Get acceleration-dependent bias.

inline const  Parameter < Matrix > & inertialsim::sensors::InertialSensorSpecification::Bias::acceleration () const

Returns:

Parameter with acceleration-dependent bias matrix (axes x 3).

function set_acceleration¶

Set acceleration-dependent bias.

template<typename  T>
inline void inertialsim::sensors::InertialSensorSpecification::Bias::set_acceleration (
    const  Parameter < T > & param
)

The component of bias due to linear acceleration. Can be specified per-axis or as a (axes x 3) array mapping input reference axes to sensor axes.

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function set_vibration_rectification¶

Set vibration rectification bias.

template<typename  T>
inline void inertialsim::sensors::InertialSensorSpecification::Bias::set_vibration_rectification (
    const  Parameter < T > & param
)

The component of bias due to rectification of vibration. Can be specified per-axis or as a (axes x 3) array mapping input reference axes to sensor axes.

Parameters:

param Parameter with appropriate units for the sensor type.

Exception:

std::invalid_argument if units are invalid.

function vibration_rectification¶

Get vibration rectification bias.

inline const  Parameter < Matrix > & inertialsim::sensors::InertialSensorSpecification::Bias::vibration_rectification () const

Returns:

Parameter with vibration rectification matrix (axes x 3).

Protected Attributes Documentation¶

variable acceleration_¶

Parameter<Matrix> inertialsim::sensors::InertialSensorSpecification::Bias::acceleration_;

variable vibration_rectification_¶

Parameter<Matrix> inertialsim::sensors::InertialSensorSpecification::Bias::vibration_rectification_;

Protected Functions Documentation¶

function set_acceleration_impl¶

Implementation of acceleration-dependent bias setter. Must validate units and set acceleration_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::Bias::set_acceleration_impl (
    const  Parameter < Matrix > & param
) = 0

function set_vibration_rectification_impl¶

Implementation of vibration rectification setter. Must validate units and set vibration_rectification_ member.

virtual void inertialsim::sensors::InertialSensorSpecification::Bias::set_vibration_rectification_impl (
    const  Parameter < Matrix > & param
) = 0

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