Struct inertialsim::sensors::IMUModel¶

ClassList > inertialsim > sensors > IMUModel

#include <imu_model.h>

Public Attributes¶

Type	Name
InertialSensorModelView	accelerometer
InertialSensorModelView	gyro

Public Functions¶

Type	Name
	IMUModel ()
InertialSensorModel	accelerometer_model () const Extract a complete accelerometer model with shared data interface.
InertialSensorModel::DataInterface &	data_interface () Get non-const reference to data interface.
const InertialSensorModel::DataInterface &	data_interface () const Get const reference to data interface.
InertialSensorModel	gyro_model () const Extract a complete gyro model with shared data interface.
void	reset () Reset model parameters to their defaults.
void	set_all (bool value) Set all boolean model parameters.

Detailed Description¶

Specify model options for simulating IMU errors and IMU data interfaces. By default all supported sources of error are simulated.

An IMU model combines gyro and accelerometer models with a single shared data interface. The gyro and accelerometer are accessed through views that expose all sensor properties except data_interface, which must be configured through the shared IMUModel::data_interface member.

To extract a complete, valid InertialSensorModel that includes the shared data interface parameters, use the gyro_model() or accelerometer_model() methods.

Warning:

IMU Data Interfaces: IMU models compose a gyro and an accelerometer model with a single shared data interface. The individual gyro and accelerometer data interfaces are intentionally hidden through the view pattern and MUST NOT be accessed directly. Always use IMUModel::data_interface() for data interface settings. This ensures gyro and accelerometer remain synchronized.

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.

See also: IMUSpecification for corresponding specification parameters

See also: InertialSensorModelView for the view pattern implementation

Public Attributes Documentation¶

variable accelerometer¶

InertialSensorModelView inertialsim::sensors::IMUModel::accelerometer;

Accelerometer simulation options view. Use IMUModel::data_interface for data interface settings.

variable gyro¶

InertialSensorModelView inertialsim::sensors::IMUModel::gyro;

Gyro simulation options view. Use IMUModel::data_interface for data interface settings.

Public Functions Documentation¶

function IMUModel¶

inline inertialsim::sensors::IMUModel::IMUModel ()

function accelerometer_model¶

Extract a complete accelerometer model with shared data interface.

InertialSensorModel inertialsim::sensors::IMUModel::accelerometer_model () const

Returns a complete InertialSensorModel for the accelerometer that includes the shared data interface parameters from IMUModel::data_interface. This model can be used independently wherever an InertialSensorModel is required.

Returns:

Complete accelerometer sensor model with shared data interface.

function data_interface [½]¶

Get non-const reference to data interface.

inline InertialSensorModel::DataInterface & inertialsim::sensors::IMUModel::data_interface ()

Returns:

Reference to data interface.

function data_interface [2/2]¶

Get const reference to data interface.

inline const InertialSensorModel::DataInterface & inertialsim::sensors::IMUModel::data_interface () const

Returns:

Const reference to data interface.

function gyro_model¶

Extract a complete gyro model with shared data interface.

InertialSensorModel inertialsim::sensors::IMUModel::gyro_model () const

Returns a complete InertialSensorModel for the gyro that includes the shared data interface parameters from IMUModel::data_interface. This model can be used independently wherever an InertialSensorModel is required.

Returns:

Complete gyro sensor model with shared data interface.

function reset¶

Reset model parameters to their defaults.

void inertialsim::sensors::IMUModel::reset ()

function set_all¶

Set all boolean model parameters.

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

All 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/imu_model.h