35 template class System_<GyroModel>;
36 template class System_<AccelerometerModel>;
54 return (
bias_.get() != 0);
59 bias_->block(state.
P()) = 3600./2. * pow(
rate_drift_, 2) * SymmetricMatrix3::Identity();
71 return imu_rate -
bias_->getVector();
104 acceleration_stddev_ = 1.0e-2;
105 acceleration_drift_ = 1.0e-2;
116 return (
bias_.get() != 0);
121 bias_->block(state.
P()) = 3600./2. * pow(acceleration_drift_, 2) * SymmetricMatrix3::Identity();
127 bias_->block(Q)(
X,
X) =
bias_->block(Q)(
Y,
Y) = pow(acceleration_drift_, 2);
128 bias_->block(Q)(
Z,
Z) = pow(acceleration_drift_, 2);
133 return imu_acceleration -
bias_->getVector();
145 Q(
X,
X) = Q(
Y,
Y) = Q(
Z,
Z) = pow(acceleration_stddev_, 2);
boost::shared_ptr< SubState_< SubVectorDimension, SubCovarianceDimension > > addSubState(const std::string &name=std::string())
void getSystemNoise(NoiseVariance &Q, const State &state, bool init=true)
void getRateNoise(CovarianceBlock Q, const State &state, bool init=true)
ColumnVector3 getAcceleration(const ImuInput::AccelerationType &imu_acceleration, const State &state) const
virtual const std::string & getName() const
void getAccelerationJacobian(SystemMatrixBlock &C, const State &state, bool init=true)
bool init(PoseEstimation &estimator, System &system, State &state)
void getAccelerationNoise(CovarianceBlock Q, const State &state, bool init=true)
virtual ~AccelerometerModel()
bool init(PoseEstimation &estimator, System &system, State &state)
void getSystemNoise(NoiseVariance &Q, const State &state, bool init=true)
ParameterList & add(const std::string &key, T &value, const T &default_value)
ParameterList & parameters()
Matrix_< 3, 3 >::type Matrix3
void getPrior(State &state)
static const Matrix3 MinusIdentity
ColumnVector3 getRate(const ImuInput::RateType &imu_rate, const State &state) const
void getRateJacobian(SystemMatrixBlock &C, const State &state, bool init=true)
ColumnVector_< 3 >::type ColumnVector3
void getPrior(State &state)