Detailed Description

Inheritance diagram for jafar::rtslam::hardware::HardwareSensorInertialAdhocSimulator:

Classes
struct	estimator_params_t
Public Member Functions
	HardwareSensorInertialAdhocSimulator (kernel::VariableCondition< int > *condition, double freq, int bufferSize_, boost::shared_ptr< simu::AdhocSimulator > simulator, size_t robId)
void	setSyncConfig (double timestamps_correction=0.0)
void	setErrors (double gravity=9.81, double gyr_bias=0.0, double gyr_bias_noisestd=0.0, double gyr_gain=1.0, double gyr_gain_noisestd=0.0, double gyr_noisestd=0.0, double acc_bias=0.0, double acc_bias_noisestd=0.0, double acc_gain=1.0, double acc_gain_noisestd=0.0, double acc_noisestd=0.0)
void	releaseReadings ()
jblas::ind_array	instantValues ()
	This function must return the indices of values returned by acquireReadings that represent the instant value of a physical quantity (speed, acceleration, ...) (except first column which is time) These values will typically be integrated.
jblas::ind_array	incrementValues ()
	This function must return the indices of values returned by acquireReadings that represent the increment of a physical quantity since last reading (odometry, ...)
Private Attributes
double	dt
boost::shared_ptr < simu::AdhocSimulator >	simulator
size_t	robId
struct jafar::rtslam::hardware::HardwareSensorInertialAdhocSimulator::estimator_params_t	params

Constructor & Destructor Documentation

jafar::rtslam::hardware::HardwareSensorInertialAdhocSimulator::HardwareSensorInertialAdhocSimulator	(	kernel::VariableCondition< int > *	condition,
		double	freq,
		int	bufferSize_,
		boost::shared_ptr< simu::AdhocSimulator >	simulator,
		size_t	robId
	)		`[inline]`

Parameters:

freq	the acquisition, must be a multiple of sensor frequence if you want to simulate synchronization
bufferSize_
simulator
robId

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