imu_filter::ImuMeasurement Class Reference

#include <imu_measurement.h>

List of all members.

Public Member Functions
	ImuMeasurement ()
	ImuMeasurement (const ImuMeasurement &other)
void	setAccBiasCovariance (double v_x, double v_y, double v_z)
	Set noise levels for the accelerometer bias covariance.
void	setAngularRateCovariance (double v)
	Set covariance diagonal of the angular rate measure.
void	setGyroBiasCovariance (double v_x, double v_y, double v_z)
	Set noise levels for the gyro bias covariance.
void	setLinearAccelerationCovariance (double v)
	Set covariance diagonal of the acceleration measure.
Public Attributes
Eigen::Matrix3d	accBiasCovariance
Eigen::Vector3d	accBiasPerturbation
Eigen::Vector3d	angularRate
Eigen::Matrix3d	angularRateCovariance
Eigen::Vector3d	angularRatePerturbation
Eigen::Matrix3d	gyroBiasCovariance
Eigen::Vector3d	gyroBiasPerturbation
Eigen::Vector3d	linearAcceleration
Eigen::Matrix3d	linearAccelerationCovariance
Eigen::Vector3d	linearAccelerationPerturbation

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Detailed Description

The class basically represents measurements obtained from an IMU

Definition at line 50 of file imu_measurement.h.

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Constructor & Destructor Documentation

imu_filter::ImuMeasurement::ImuMeasurement

(

)

[inline]

Definition at line 53 of file imu_measurement.h.

imu_filter::ImuMeasurement::ImuMeasurement

(

const ImuMeasurement &

other

)

[inline]

Definition at line 67 of file imu_measurement.h.

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Member Function Documentation

void imu_filter::ImuMeasurement::setAccBiasCovariance	(	double	v_x,
		double	v_y,
		double	v_z
	)		[inline]

Set noise levels for the accelerometer bias covariance.

Definition at line 114 of file imu_measurement.h.

void imu_filter::ImuMeasurement::setAngularRateCovariance

(

double

v

)

[inline]

Set covariance diagonal of the angular rate measure.

Definition at line 84 of file imu_measurement.h.

void imu_filter::ImuMeasurement::setGyroBiasCovariance	(	double	v_x,
		double	v_y,
		double	v_z
	)		[inline]

Set noise levels for the gyro bias covariance.

Definition at line 104 of file imu_measurement.h.

void imu_filter::ImuMeasurement::setLinearAccelerationCovariance

(

double

v

)

[inline]

Set covariance diagonal of the acceleration measure.

Definition at line 94 of file imu_measurement.h.

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Member Data Documentation

Eigen::Matrix3d imu_filter::ImuMeasurement::accBiasCovariance

accelerometer bias covariance

Definition at line 133 of file imu_measurement.h.

Eigen::Vector3d imu_filter::ImuMeasurement::accBiasPerturbation

perturbation level for the acclerometer bias

Definition at line 128 of file imu_measurement.h.

Eigen::Vector3d imu_filter::ImuMeasurement::angularRate

angular Rate measurement

Definition at line 121 of file imu_measurement.h.

Eigen::Matrix3d imu_filter::ImuMeasurement::angularRateCovariance

angular rate covariance

Definition at line 130 of file imu_measurement.h.

Eigen::Vector3d imu_filter::ImuMeasurement::angularRatePerturbation

perturbation level for the angular rate

Definition at line 125 of file imu_measurement.h.

Eigen::Matrix3d imu_filter::ImuMeasurement::gyroBiasCovariance

gyro bias covariance

Definition at line 132 of file imu_measurement.h.

Eigen::Vector3d imu_filter::ImuMeasurement::gyroBiasPerturbation

perturbation level for the gyro bias

Definition at line 127 of file imu_measurement.h.

Eigen::Vector3d imu_filter::ImuMeasurement::linearAcceleration

linear acceleration measurement

Definition at line 123 of file imu_measurement.h.

Eigen::Matrix3d imu_filter::ImuMeasurement::linearAccelerationCovariance

linear acceleration Covariance

Definition at line 131 of file imu_measurement.h.

Eigen::Vector3d imu_filter::ImuMeasurement::linearAccelerationPerturbation

perturbation level for the linear acceleration

Definition at line 126 of file imu_measurement.h.

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The documentation for this class was generated from the following file:

• imu_measurement.h