fsw::calibration::IMUCalibrationSystem Class Reference

Complete IMU Calibration System. More...

#include <IMUCalibration.hpp>

Collaboration diagram for fsw::calibration::IMUCalibrationSystem:

Classes
struct	CalibratedIMU
	Apply calibration to IMU reading. More...
struct	CalibrationStatus
	Get calibration status for all sensors. More...

Public Member Functions
	IMUCalibrationSystem ()
	~IMUCalibrationSystem ()
std::shared_ptr< IMUCalibration >	getCalibrator (SensorType type)
	Get calibrator for specific sensor.
bool	calibrateAll (const std::vector< IMUCalibration::RawReading > &accel_readings, const std::vector< IMUCalibration::RawReading > &gyro_readings, const std::vector< IMUCalibration::RawReading > &mag_readings, const Eigen::Vector3d &reference_magnetic_field)
	Calibrate all sensors.
CalibratedIMU	calibrateIMU (const IMUCalibration::RawReading &accel, const IMUCalibration::RawReading &gyro, const IMUCalibration::RawReading &mag) const
CalibrationStatus	getStatus () const

Private Attributes
std::shared_ptr< IMUCalibration >	accel_calibrator_
std::shared_ptr< IMUCalibration >	gyro_calibrator_
std::shared_ptr< IMUCalibration >	mag_calibrator_
std::mutex	mutex_

Detailed Description

Complete IMU Calibration System.

Manages calibration for all three IMU sensors.

Definition at line 195 of file IMUCalibration.hpp.

Constructor & Destructor Documentation

IMUCalibrationSystem()

fsw::calibration::IMUCalibrationSystem::IMUCalibrationSystem

(

)

Definition at line 369 of file IMUCalibration.cpp.

References accel_calibrator_, fsw::calibration::IMUCalibration::ACCELEROMETER, gyro_calibrator_, fsw::calibration::IMUCalibration::GYROSCOPE, mag_calibrator_, and fsw::calibration::IMUCalibration::MAGNETOMETER.

~IMUCalibrationSystem()

fsw::calibration::IMUCalibrationSystem::~IMUCalibrationSystem ( )

default

Member Function Documentation

calibrateAll()

bool fsw::calibration::IMUCalibrationSystem::calibrateAll	(	const std::vector< IMUCalibration::RawReading > &	accel_readings,
		const std::vector< IMUCalibration::RawReading > &	gyro_readings,
		const std::vector< IMUCalibration::RawReading > &	mag_readings,
		const Eigen::Vector3d &	reference_magnetic_field )

Calibrate all sensors.

Parameters

accel_readings	Accelerometer readings
gyro_readings	Gyroscope readings
mag_readings	Magnetometer readings

Returns

true if all calibrations successful

Definition at line 389 of file IMUCalibration.cpp.

References accel_calibrator_, gyro_calibrator_, mag_calibrator_, fsw::calibration::IMUCalibration::CalibrationPoint::raw, fsw::calibration::IMUCalibration::CalibrationPoint::reference, fsw::calibration::IMUCalibration::CalibrationPoint::reference_uncertainty, and success.

Referenced by main().

calibrateIMU()

IMUCalibrationSystem::CalibratedIMU fsw::calibration::IMUCalibrationSystem::calibrateIMU	(	const IMUCalibration::RawReading &	accel,
		const IMUCalibration::RawReading &	gyro,
		const IMUCalibration::RawReading &	mag ) const

Definition at line 432 of file IMUCalibration.cpp.

References accel_calibrator_, calibrated, gyro_calibrator_, and mag_calibrator_.

Referenced by main().

getCalibrator()

std::shared_ptr< IMUCalibration > fsw::calibration::IMUCalibrationSystem::getCalibrator

(

SensorType

type

)

Get calibrator for specific sensor.

Definition at line 377 of file IMUCalibration.cpp.

References accel_calibrator_, gyro_calibrator_, and mag_calibrator_.

getStatus()

IMUCalibrationSystem::CalibrationStatus fsw::calibration::IMUCalibrationSystem::getStatus

(

)

const

Definition at line 444 of file IMUCalibration.cpp.

References accel_calibrator_, gyro_calibrator_, and mag_calibrator_.

Referenced by main().

Member Data Documentation

accel_calibrator_

std::shared_ptr<IMUCalibration> fsw::calibration::IMUCalibrationSystem::accel_calibrator_

private

Definition at line 240 of file IMUCalibration.hpp.

Referenced by calibrateAll(), calibrateIMU(), getCalibrator(), getStatus(), and IMUCalibrationSystem().

gyro_calibrator_

std::shared_ptr<IMUCalibration> fsw::calibration::IMUCalibrationSystem::gyro_calibrator_

private

Definition at line 241 of file IMUCalibration.hpp.

Referenced by calibrateAll(), calibrateIMU(), getCalibrator(), getStatus(), and IMUCalibrationSystem().

mag_calibrator_

std::shared_ptr<IMUCalibration> fsw::calibration::IMUCalibrationSystem::mag_calibrator_

private

Definition at line 242 of file IMUCalibration.hpp.

Referenced by calibrateAll(), calibrateIMU(), getCalibrator(), getStatus(), and IMUCalibrationSystem().

mutex_

std::mutex fsw::calibration::IMUCalibrationSystem::mutex_

mutableprivate

Definition at line 243 of file IMUCalibration.hpp.

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

• daq-server/diablo_server/lib/include/calibration/IMUCalibration.hpp
• daq-server/diablo_server/lib/src/calibration/IMUCalibration.cpp