chrono::sensor::ChIMUNoiseNormalDrift Class Reference


IMU Noise model: gaussian drifting noise with noncorrelated equal distributions.

#include <ChFilterIMUUpdate.h>

Inheritance diagram for chrono::sensor::ChIMUNoiseNormalDrift:
Collaboration diagram for chrono::sensor::ChIMUNoiseNormalDrift:

Public Member Functions

 ChIMUNoiseNormalDrift (float updateRate, float g_mean, float g_stdev, float g_bias_drift, float g_tau_drift, float a_mean, float a_stdev, float a_bias_drift, float a_tau_drift)
 Class constructor.
 ~ChIMUNoiseNormalDrift ()
 Class destructor.
virtual void AddNoise (chrono::ChVector< float > &gyro, chrono::ChVector< float > &acc)
 Function for adding drifting noise to the IMU. More...
- Public Member Functions inherited from chrono::sensor::ChIMUNoiseModel
 ChIMUNoiseModel ()
 Class constructor.
 ~ChIMUNoiseModel ()
 Class destructor.

Member Function Documentation

◆ AddNoise()

void chrono::sensor::ChIMUNoiseNormalDrift::AddNoise ( chrono::ChVector< float > &  gyro,
chrono::ChVector< float > &  acc 

Function for adding drifting noise to the IMU.

gyroGyroscope data to augment
accAcceleratometer data to augment

Implements chrono::sensor::ChIMUNoiseModel.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_sensor/filters/ChFilterIMUUpdate.h
  • /builds/uwsbel/chrono/src/chrono_sensor/filters/ChFilterIMUUpdate.cpp