calico::sensors::GyroscopeVectorNavModel Class Reference

#include <gyroscope_models.h>

Inheritance diagram for calico::sensors::GyroscopeVectorNavModel:

Collaboration diagram for calico::sensors::GyroscopeVectorNavModel:

Public Member Functions
GyroscopeVectorNavModel &	operator= (const GyroscopeVectorNavModel &)=default
GyroscopeIntrinsicsModel	GetType () const final
	Getter for gyroscope model type.
int	NumberOfParameters () const final
	Getter for the number of parameters for this model.
Public Member Functions inherited from calico::sensors::GyroscopeModel
template<typename T >
absl::StatusOr< Eigen::Vector3< T > >	Project (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &omega_sensor_world) const
template<typename T >
absl::StatusOr< Eigen::Vector3< T > >	Unproject (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &measurement) const

Static Public Member Functions
template<typename T >
static absl::StatusOr< Eigen::Vector3< T > >	Project (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &omega_sensor_world)
template<typename T >
static absl::StatusOr< Eigen::Vector3< T > >	Unproject (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &measurement)
Static Public Member Functions inherited from calico::sensors::GyroscopeModel
static std::unique_ptr< GyroscopeModel >	Create (GyroscopeIntrinsicsModel gyroscope_model)

Static Public Attributes
static constexpr int	kNumberOfParameters = 12
static constexpr GyroscopeIntrinsicsModel	kModelType = GyroscopeIntrinsicsModel::kGyroscopeVectorNav

Detailed Description

Vector-Nav model. See their page for more details.
Parameter order: \([s_x, s_y, s_z, a_1, a_2, a_3, a_4, a_5, a_6, b_x, b_y, b_z]\)

Member Function Documentation

Project()

template<typename T >

static absl::StatusOr<Eigen::Vector3<T> > calico::sensors::GyroscopeVectorNavModel::Project ( const Eigen::VectorX< T > &  intrinsics, const Eigen::Vector3< T > &  omega_sensor_world  )

inlinestatic

Returns measurement \(\mathbf{f}\), a 3-D vector such that

\[ \mathbf{f} = \mathbf{S}\mathbf{A}\boldsymbol{\omega}^s_{ws} + \mathbf{b}\\\\ \mathbf{S} = \left[\begin{matrix} s_x & 0 & 0\\ 0 & s_y & 0\\ 0 & 0 & s_z \end{matrix}\right], \mathbf{A} = \left[\begin{matrix} 1 & a_1 & a_2\\ a_3 & 1 & a_4\\ a_5 & a_6 & 1 \end{matrix}\right], \mathbf{b} = \left[\begin{matrix}b_x\\b_y\\b_z\end{matrix}\right] \]

Unproject()

template<typename T >

static absl::StatusOr<Eigen::Vector3<T> > calico::sensors::GyroscopeVectorNavModel::Unproject ( const Eigen::VectorX< T > &  intrinsics, const Eigen::Vector3< T > &  measurement  )

inlinestatic

Inverts the measurement model to obtain angular rate as observed by the sensor.

\[ \boldsymbol{\omega}^s_{ws} = \left(\mathbf{S}\mathbf{A}\right)^{-1} \left(\mathbf{f} - \mathbf{b}\right)\\\\ \mathbf{S} = \left[\begin{matrix} s_x & 0 & 0\\ 0 & s_y & 0\\ 0 & 0 & s_z \end{matrix}\right], \mathbf{A} = \left[\begin{matrix} 1 & a_1 & a_2\\ a_3 & 1 & a_4\\ a_5 & a_6 & 1 \end{matrix}\right], \mathbf{b} = \left[\begin{matrix}b_x\\b_y\\b_z\end{matrix}\right] \]

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

• calico/sensors/gyroscope_models.h