imu_measurement.h

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#ifndef IMU_FILTER_IMU_MEASUREMENT_H
#define IMU_FILTER_IMU_MEASUREMENT_H

#include <Eigen/Eigen>
#include <Eigen/Geometry>

namespace imu_filter 
{
        //* A class for representing measurements for an IMU
        class ImuMeasurement
        {
                public:
                        ImuMeasurement() :
                                angularRate( Eigen::Vector3d::Zero() ),
                                linearAcceleration( Eigen::Vector3d::Zero() ),
                                angularRatePerturbation( Eigen::Vector3d::Zero() ),
                                linearAccelerationPerturbation( Eigen::Vector3d::Zero() ),
                                gyroBiasPerturbation( Eigen::Vector3d::Zero() ),
                                accBiasPerturbation( Eigen::Vector3d::Zero() ),
                                angularRateCovariance( Eigen::Matrix3d::Zero() ),
                                linearAccelerationCovariance( Eigen::Matrix3d::Zero() ),
                                gyroBiasCovariance( Eigen::Matrix3d::Zero() ),
                                accBiasCovariance( Eigen::Matrix3d::Zero() )
                        {
                        }

                        ImuMeasurement( const ImuMeasurement & other ) :
                                angularRate( other.angularRate ),
                                linearAcceleration( other.linearAcceleration ),
                                angularRatePerturbation( other.angularRatePerturbation ),
                                linearAccelerationPerturbation( other.linearAccelerationPerturbation ),
                                gyroBiasPerturbation( other.gyroBiasPerturbation ),
                                accBiasPerturbation( other.accBiasPerturbation ),
                                angularRateCovariance( other.angularRateCovariance ),
                                linearAccelerationCovariance( other.linearAccelerationCovariance ),
                                gyroBiasCovariance( other.gyroBiasCovariance ),
                                accBiasCovariance( other.accBiasCovariance )
                        {
                        }

                        void setAngularRateCovariance( double v ) 
                        {
                                angularRateCovariance( 0, 0 ) = v;
                                angularRateCovariance( 1, 1 ) = v;
                                angularRateCovariance( 2, 2 ) = v;
                        }

                        void setLinearAccelerationCovariance( double v ) 
                        {
                                linearAccelerationCovariance( 0, 0 ) = v;
                                linearAccelerationCovariance( 1, 1 ) = v;
                                linearAccelerationCovariance( 2, 2 ) = v;
                        }

                        void setGyroBiasCovariance( double v_x, double v_y, double v_z )
                        {
                                gyroBiasCovariance( 0, 0 ) = v_x;
                                gyroBiasCovariance( 1, 1 ) = v_y;
                                gyroBiasCovariance( 2, 2 ) = v_z;
                        }

                        void setAccBiasCovariance( double v_x, double v_y, double v_z )
                        {
                                accBiasCovariance( 0, 0 ) = v_x;
                                accBiasCovariance( 1, 1 ) = v_y;
                                accBiasCovariance( 2, 2 ) = v_z;
                        }

                        Eigen::Vector3d angularRate;                                    
                        Eigen::Vector3d linearAcceleration;                             
                        Eigen::Vector3d angularRatePerturbation;                
                        Eigen::Vector3d linearAccelerationPerturbation; 
                        Eigen::Vector3d gyroBiasPerturbation;                   
                        Eigen::Vector3d accBiasPerturbation;                    
                        Eigen::Matrix3d angularRateCovariance;                  
                        Eigen::Matrix3d linearAccelerationCovariance;   
                        Eigen::Matrix3d gyroBiasCovariance;                             
                        Eigen::Matrix3d accBiasCovariance;                              
        };

}

#endif