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IMUParameters

struct gazebo::IMUParameters

IMUParameters stores all IMU model parameters. A description of these parameters can be found here: https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model-and-Intrinsics.

Summary

Members	Descriptions
public doublegyroscopeNoiseDensity	Gyroscope noise density (two-sided spectrum) [rad/s/sqrt(Hz)].
public doublegyroscopeRandomWalk	Gyroscope bias random walk [rad/s/s/sqrt(Hz)].
public doublegyroscopeBiasCorrelationTime	Gyroscope bias correlation time constant [s].
public doublegyroscopeTurnOnBiasSigma	Gyroscope turn on bias standard deviation [rad/s].
public doubleaccelerometerNoiseDensity	Accelerometer noise density (two-sided spectrum) [m/s^2/sqrt(Hz)].
public doubleaccelerometerRandomWalk	Accelerometer bias random walk. [m/s^2/s/sqrt(Hz)].
public doubleaccelerometerBiasCorrelationTime	Accelerometer bias correlation time constant [s].
public doubleaccelerometerTurnOnBiasSigma	Accelerometer turn on bias standard deviation [m/s^2].
public doubleorientationNoise	Standard deviation of orientation noise per axis [rad].
public inlineIMUParameters()	Constructor.

Members

public doublegyroscopeNoiseDensity

Gyroscope noise density (two-sided spectrum) [rad/s/sqrt(Hz)].

public doublegyroscopeRandomWalk

Gyroscope bias random walk [rad/s/s/sqrt(Hz)].

public doublegyroscopeBiasCorrelationTime

Gyroscope bias correlation time constant [s].

public doublegyroscopeTurnOnBiasSigma

Gyroscope turn on bias standard deviation [rad/s].

public doubleaccelerometerNoiseDensity

Accelerometer noise density (two-sided spectrum) [m/s^2/sqrt(Hz)].

public doubleaccelerometerRandomWalk

Accelerometer bias random walk. [m/s^2/s/sqrt(Hz)].

public doubleaccelerometerBiasCorrelationTime

Accelerometer bias correlation time constant [s].

public doubleaccelerometerTurnOnBiasSigma

Accelerometer turn on bias standard deviation [m/s^2].

public doubleorientationNoise

Standard deviation of orientation noise per axis [rad].

public inlineIMUParameters()

Constructor.