mars::IMUMeasurementType Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/imu/imu_measurement_type.h>

Inheritance diagram for mars::IMUMeasurementType:

Collaboration diagram for mars::IMUMeasurementType:

Public Member Functions
	IMUMeasurementType ()=default
	IMUMeasurementType (Eigen::Vector3d linear_acceleration, Eigen::Vector3d angular_velocity)
bool	operator== (const IMUMeasurementType &rhs) const
bool	operator!= (const IMUMeasurementType &rhs) const
std::string	to_csv_string (const double &timestamp) const
Public Member Functions inherited from mars::BaseMeas
bool	get_meas_noise (Eigen::MatrixXd *meas_noise)
	get the measurement noise associated with the current sensor measurement
void	set_meas_noise (const Eigen::MatrixXd &meas_noise)
Public Member Functions inherited from mars::MeasInterface
virtual	~MeasInterface ()=default

Static Public Member Functions
static std::string	get_csv_state_header_string ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	linear_acceleration_ { 0, 0, 0 }
Eigen::Vector3d	angular_velocity_ { 0, 0, 0 }
Public Attributes inherited from mars::BaseMeas
Eigen::MatrixXd	meas_noise_
bool	has_meas_noise { false }

Constructor & Destructor Documentation

IMUMeasurementType() [1/2]

mars::IMUMeasurementType::IMUMeasurementType ( )

default

IMUMeasurementType() [2/2]

mars::IMUMeasurementType::IMUMeasurementType ( Eigen::Vector3d  linear_acceleration, Eigen::Vector3d  angular_velocity  )

inline

    : linear_acceleration_(std::move(linear_acceleration)), angular_velocity_(std::move(angular_velocity))
  {
  }

Member Function Documentation

operator==()

bool mars::IMUMeasurementType::operator== ( const IMUMeasurementType &  rhs ) const

inline

  {
    return (linear_acceleration_ == rhs.linear_acceleration_ && angular_velocity_ == rhs.angular_velocity_);
  }

operator!=()

bool mars::IMUMeasurementType::operator!= ( const IMUMeasurementType &  rhs ) const

inline

  {
    return !(*this == rhs);
  }

get_csv_state_header_string()

static std::string mars::IMUMeasurementType::get_csv_state_header_string ( )

inlinestatic

  {
    std::stringstream os;
    os << "t, ";
    os << "a_x, a_y, a_z, ";
    os << "w_x, w_y, w_z";
 
    return os.str();
  }

to_csv_string()

std::string mars::IMUMeasurementType::to_csv_string ( const double &  timestamp ) const

inline

  {
    std::stringstream os;
    os.precision(17);
    os << timestamp;
 
    os << ", " << linear_acceleration_(0) << ", " << linear_acceleration_(1) << ", " << linear_acceleration_(2);
    os << ", " << angular_velocity_(0) << ", " << angular_velocity_(1) << ", " << angular_velocity_(2);
 
    return os.str();
  }

Member Data Documentation

linear_acceleration_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d mars::IMUMeasurementType::linear_acceleration_ { 0, 0, 0 }

{ 0, 0, 0 };

angular_velocity_

Eigen::Vector3d mars::IMUMeasurementType::angular_velocity_ { 0, 0, 0 }

{ 0, 0, 0 };

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

• imu_measurement_type.h