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Observer Class Reference

#include <Observer.h>

Inheritance diagram for Observer:

Inheritance graph
[legend]
List of all members.

Public Member Functions

 Observer ()
virtual ~Observer ()
virtual int Run ()=0
virtual int Initialize ()=0
Vector AccelerationCorrection (Vector _angularAcceleration, Vector _angularRates, Vector _accelerationMeasurement, Vector _vectorCM)
 Correction of the accelerometer reading, so that it reads acceleration due to gravity only. In order to do this we calculate the acceleration due to rotation from the rate gyros adn subtract from the acceleration measurement.

Constructor & Destructor Documentation

Observer::Observer (   )  [inline]
 

Constructor

Definition at line 30 of file Observer.h.

virtual Observer::~Observer (   )  [inline, virtual]
 

Destructor

Definition at line 33 of file Observer.h.

Member Function Documentation

Vector Observer::AccelerationCorrection (  Vector  _angularAcceleration,
Vector  _angularRates,
Vector  _accelerationMeasurement,
Vector  _vectorCM
) 
 

Correction of the accelerometer reading, so that it reads acceleration due to gravity only. In order to do this we calculate the acceleration due to rotation from the rate gyros adn subtract from the acceleration measurement.

\[\ddot{ \vec{r}}_{\text{Gravity Vector}} = \ddot{\vec{r}}_{\text{Measurement}} - \ddot{\vec{r}}_{\text{offset}} \]

\[\ddot{\vec{r}}_{\text{offset}} = \dot{\vec{\omega}}^x \vec{r} + 2 \vec{\omega}^x \vec{\omega}^x \vec{r} \]

Parameters:
_angularAcceleration is the angular acceleration in the body frame of the simulator with units of rad/s^2.
_angularRates is the angular rates in the body frame of the simulator with units of rad/s.
_accelerationMeasurement is the measurement of the acceleration from the MotionPak before being corrected due to offset with units of m/s^2.
_vectorCM is the position of the sensor with respect to teh center of rotation of the air-bearing platform with units of m.

Definition at line 34 of file Observer.cpp.

References O_SESSAME::skew(), and O_SESSAME::Vector.

Referenced by triadObserver::Run().

virtual int Observer::Initialize (   )  [pure virtual]
 

Initializes the observer (pure virtual function

Implemented in atterrbiasObserver, AttitudeObserver, DefaultObserver, QuaternionEKFObserver, and triadObserver.

virtual int Observer::Run (   )  [pure virtual]
 

Runs the observer (pure virtual function)

Implemented in atterrbiasObserver, AttitudeObserver, DefaultObserver, QuaternionEKFObserver, and triadObserver.

The documentation for this class was generated from the following files:
Generated on Wed Sep 5 12:54:41 2007 for DSACSS Operational Code by  doxygen 1.3.9.1