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imu_calibration.IMUCalibrator Class Reference
Inheritance diagram for imu_calibration.IMUCalibrator:
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Collaboration diagram for imu_calibration.IMUCalibrator:
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Public Member Functions

 __init__ (self, SensorType sensor_type, str sensor_id)
 add_calibration_point (self, CalibrationPoint point)
CalibrationParams calibrate (self)
np.ndarray apply_calibration (self, np.ndarray raw_value, float temperature=25.0)
 save_calibration (self, str filepath)
 load_calibration (self, str filepath)

Public Attributes

 sensor_type = sensor_type
 sensor_id = sensor_id
list calibration_points = []
Optional[CalibrationParams] params = None

Detailed Description

Base IMU sensor calibrator

Definition at line 86 of file imu_calibration.py.

Constructor & Destructor Documentation

◆ __init__()

imu_calibration.IMUCalibrator.__init__ ( self,
SensorType sensor_type,
str sensor_id )

Definition at line 89 of file imu_calibration.py.

Member Function Documentation

◆ add_calibration_point()

imu_calibration.IMUCalibrator.add_calibration_point ( self,
CalibrationPoint point ) 
Add calibration data point

Definition at line 95 of file imu_calibration.py.

◆ apply_calibration()

np.ndarray imu_calibration.IMUCalibrator.apply_calibration ( self,
np.ndarray raw_value,
float temperature = 25.0 ) 
Apply calibration to raw reading

Definition at line 103 of file imu_calibration.py.

◆ calibrate()

CalibrationParams imu_calibration.IMUCalibrator.calibrate ( self) 
Perform calibration

Reimplemented in imu_calibration.AccelerometerCalibrator, imu_calibration.GyroscopeCalibrator, and imu_calibration.MagnetometerCalibrator.

Definition at line 99 of file imu_calibration.py.

◆ load_calibration()

imu_calibration.IMUCalibrator.load_calibration ( self,
str filepath ) 
Load calibration parameters from JSON file

Definition at line 140 of file imu_calibration.py.

◆ save_calibration()

imu_calibration.IMUCalibrator.save_calibration ( self,
str filepath ) 
Save calibration parameters to JSON file

Definition at line 123 of file imu_calibration.py.

Member Data Documentation

◆ calibration_points

list imu_calibration.IMUCalibrator.calibration_points = []

Definition at line 92 of file imu_calibration.py.

Referenced by robust_calibration.RobustCalibrationFramework._extrapolation_variance(), robust_calibration.RobustCalibrationFramework.add_calibration_point(), robust_calibration.RobustCalibrationFramework.get_autonomy_score(), robust_calibration.RobustCalibrationFramework.get_calibration_summary(), and robust_calibration.RobustCalibrationFramework.get_confidence_level().

◆ params

Optional[CalibrationParams] imu_calibration.IMUCalibrator.params = None

Definition at line 93 of file imu_calibration.py.

Referenced by test_robust_ddp_dynamics.TestDynamics.test_blowdown_decreases_pressure(), test_robust_ddp_dynamics.TestDynamics.test_control_clamping(), test_robust_ddp_dynamics.TestDynamics.test_copv_blowdown(), test_robust_ddp_dynamics.TestDynamics.test_feed_pressure_lag(), test_robust_ddp_ddp_solver.TestDDPSolver.test_forward_rollout(), test_robust_ddp_dynamics.TestDynamics.test_linearize_accuracy(), test_robust_ddp_dynamics.TestDynamics.test_linearize_shape(), test_robust_ddp_dynamics.TestDynamics.test_pressurization_increases_pressure(), test_robust_ddp_dynamics.TestDynamics.test_state_non_negative(), test_robust_ddp_dynamics.TestDynamics.test_step_basic(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_basic(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_validation(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_widens(), test_robust_ddp_robustness.TestRobustness.test_tube_propagate_with_large_w_bar(), test_robust_ddp_dynamics.TestDynamics.test_ullage_volume_increases(), and test_robust_ddp_dynamics.TestDynamics.test_zero_mass_flow().

◆ sensor_id

imu_calibration.IMUCalibrator.sensor_id = sensor_id

Definition at line 91 of file imu_calibration.py.

Referenced by robust_calibration.RobustCalibrationFramework.get_calibration_summary(), and robust_pt_calibration_gui.BayesianPTCalibration.to_dict().

◆ sensor_type

imu_calibration.IMUCalibrator.sensor_type = sensor_type

Definition at line 90 of file imu_calibration.py.

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