Uncertainty on IMU measurements. More...

#include <ImuUncertainty.h>

Public Member Functions
void	configure (const Dictionary &config)
	Configure uncertainty from a dictionary. More...

void	apply (Eigen::Vector3d &linear_acceleration, Eigen::Vector3d &angular_velocity, std::mt19937 &rng) const
	Apply uncertainty to measurement vectors. More...

Public Attributes
Eigen::Vector3d	accelerometer_bias = Eigen::Vector3d::Zero()
	Bias added to accelerometer measurements in the IMU frame.

double	accelerometer_noise = 0.0
	Standard deviation of noise added to accelerations in the IMU frame.

Eigen::Vector3d	gyroscope_bias = Eigen::Vector3d::Zero()
	Bias added to gyroscope measurements, in the IMU frame.

double	gyroscope_noise = 0.0
	Standard deviation of noise added to angular velocities in the IMU frame.

Detailed Description

Uncertainty on IMU measurements.

Member Function Documentation

void upkie::cpp::actuation::ImuUncertainty::apply	(	Eigen::Vector3d &	linear_acceleration,
		Eigen::Vector3d &	angular_velocity,
		std::mt19937 &	rng
	)		const

inline

Apply uncertainty to measurement vectors.

Parameters

[in,out]	linear_acceleration	Linear acceleration measurement, in the IMU frame.
[in,out]	angular_velocity	Angular velocity measurement, in the IMU frame.
[in,out]	rng	Random number generator.

void upkie::cpp::actuation::ImuUncertainty::configure ( const Dictionary & config )

inline

Configure uncertainty from a dictionary.

Parameters

[in] config Configuration dictionary.

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