base::samples::RigidBodyAcceleration Struct Reference

#include <RigidBodyAcceleration.hpp>

Public Member Functions
	RigidBodyAcceleration ()
void	invalidate ()

Public Attributes
base::Time	time
base::Vector3d	acceleration
base::Matrix3d	cov_acceleration
base::Vector3d	angular_acceleration
base::Matrix3d	cov_angular_acceleration

Detailed Description

Representation of accelerations of a body in a given (unspecified) fixed frame of reference

While the frame of reference is unspecified, it will usually be the inertial frame. We encourage Rock code to use the body-fixed frame as the frame of expression.

Indeed, Sensors (e.g. gyros, accelerometers) and models (e.g. hydrodynamic models) give access to velocities and accelerations w.r.t. the inertial frame, but expressed in the body frame. However, expressing the velocities/accelerations in the world frame from these sensing/estimation methods would require to have an estimate of the system's pose in the world, which is a harder thing to get.

Constructor & Destructor Documentation

RigidBodyAcceleration()

base::samples::RigidBodyAcceleration::RigidBodyAcceleration

(

)

Member Function Documentation

invalidate()

void base::samples::RigidBodyAcceleration::invalidate

(

)

Member Data Documentation

acceleration

base::Vector3d base::samples::RigidBodyAcceleration::acceleration

Linear acceleration in m/s2

angular_acceleration

base::Vector3d base::samples::RigidBodyAcceleration::angular_acceleration

Angular acceleration in rad/s2

cov_acceleration

base::Matrix3d base::samples::RigidBodyAcceleration::cov_acceleration

Covariance matrix of the linear acceleration

cov_angular_acceleration

base::Matrix3d base::samples::RigidBodyAcceleration::cov_angular_acceleration

Covariance matrix of the angular acceleration

time

base::Time base::samples::RigidBodyAcceleration::time

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

• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/RigidBodyAcceleration.hpp
• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/RigidBodyAcceleration.cpp