tag::AngularVelocity< State > Class Template Reference

#include <measurements.h>

Collaboration diagram for tag::AngularVelocity< State >:

Public Member Functions
	AngularVelocity (void)
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION > &	getMeasurementJacobian (const State &state)
TooN::Matrix< M_DIMENSION > &	getMeasurementCovariance (const State &state)
TooN::Vector< M_DIMENSION >	getInnovation (const State &state)
void	setCovariance (double sigma)

Public Attributes
TooN::Vector< 3 >	gyro
TooN::Matrix< M_DIMENSION >	covariance
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION >	jacobian

Static Public Attributes
static const int	M_DIMENSION = 3

Detailed Description

template<class State>
class tag::AngularVelocity< State >

A angular velocity measurement in local coordinates. Possible sensors include gyroscopes.

Constructor & Destructor Documentation

template<class State >

tag::AngularVelocity< State >::AngularVelocity ( void  )

inline

References tag::AngularVelocity< State >::covariance, tag::AngularVelocity< State >::gyro, and tag::AngularVelocity< State >::jacobian.

Member Function Documentation

template<class State >

TooN::Vector<M_DIMENSION> tag::AngularVelocity< State >::getInnovation ( const State &  state )

inline

Todo:

think about the -gyro and either document or remove

References tag::AngularVelocity< State >::gyro.

template<class State >

TooN::Matrix<M_DIMENSION>& tag::AngularVelocity< State >::getMeasurementCovariance ( const State &  state )

inline

References tag::AngularVelocity< State >::covariance.

template<class State >

TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION>& tag::AngularVelocity< State >::getMeasurementJacobian ( const State &  state )

inline

References tag::AngularVelocity< State >::jacobian.

template<class State >

void tag::AngularVelocity< State >::setCovariance ( double  sigma )

inline

References tag::AngularVelocity< State >::covariance.

Member Data Documentation

template<class State >

TooN::Matrix<M_DIMENSION> tag::AngularVelocity< State >::covariance

Referenced by tag::AngularVelocity< State >::AngularVelocity(), tag::AngularVelocity< State >::getMeasurementCovariance(), and tag::AngularVelocity< State >::setCovariance().

template<class State >

TooN::Vector<3> tag::AngularVelocity< State >::gyro

Referenced by tag::AngularVelocity< State >::AngularVelocity(), and tag::AngularVelocity< State >::getInnovation().

template<class State >

TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION> tag::AngularVelocity< State >::jacobian

Referenced by tag::AngularVelocity< State >::AngularVelocity(), and tag::AngularVelocity< State >::getMeasurementJacobian().

template<class State >

const int tag::AngularVelocity< State >::M_DIMENSION = 3

static

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

• measurements.h