IMU.h

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/*
IMU model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_SENSORS_IMU_H
#define MODELS_SENSORS_IMU_H
 
#include "core/macros.h"
#include "simulation/Model.h"
#include "models/sensors/Accelerometer.h"
#include "models/sensors/Gyro.h"
 
namespace modelspace {
 
    /**
     * @brief   IMU Model
     * 
     * The IMU model is a simple wrapper around the accelerometer and gyro models, 
     * wrapping them into a single package. For details on each element of the IMU,
     * see the accelerometer or gyro definitions.
     * 
     * Author: Alex Reynolds <alex.reynolds@attx.tech>
    */
    class IMU : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The bias in accelerometer measurement output described as a three-element vector in the same units
             *  as the output. Default is no bias. */
            SIGNAL(accelerometer_bias,      CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The one-sigma gaussian noise in accelerometer measurement output described as a three-element vector 
             *  in the same units as the output. Default is no noise. */
            SIGNAL(accelerometer_gaussian_noise,CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The bias in gyro measurement output described as a three-element vector in the same units
             *  as the output. Default is no bias. */
            SIGNAL(gyro_bias,               CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The one-sigma gaussian noise in gyro measurement output described as a three-element vector 
             *  in the same units as the output. Default is no noise. */
            SIGNAL(gyro_gaussian_noise,     CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The vehicle frame relative to which the sensor is mounted and aligned. This is most
             *  typically the body frame of a spacecraft or other vehicle. mount_position__mf and mount_alignment__mf
             *  are described relative to this frame. */
            SIGNAL(mount_frame,             FrameD*,                nullptr)
            /** The position of the sensor in the mount frame, represented in the default simulation
             *  unit (meters by default. pretty much always meters) */
            SIGNAL(mount_position__mf,      CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The alignment of the accelerometer relative to the mount frame */
            SIGNAL(mount_alignment_mf,      QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The rate at which the sensor generates an output, in hertz. Setting this value
             *  to 0 forces the sensor to output at the simulation rate. */
            SIGNAL(rate_hz,                 int,                    0)
            /** Value to seed the internal RNG for this model. */
            SIGNAL(accelerometer_seed_value,int,                    0)
            /** Value to seed the internal RNG for this model. */
            SIGNAL(gyro_seed_value,         int,                    0)
            /** The frame in which gravity is represented. If this parameter is not set, 
             *  the gravity frame is assumed to be the root frame of the simulation. */
            SIGNAL(gravity_frame,           FrameD*,                nullptr)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            /** The gravity vector acting on the sensor as represented in the gravity frame */
            SIGNAL(gravity__gf,             CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The measured output acceleration produced by the accelerometer describing the 
             *  acceleration of the sensor frame relative to the simulation root frame
             *  appropriate bias, noise, and rate limiting, with gravity removed */
            SIGNAL(meas_accel_sf,        CartesianVector3D,         CartesianVector3D({0.0, 0.0, 0.0}))
            /** The "perfect" output acceleration produced by the accelerometer describing the 
             *  acceleration of the sensor frame relative to the simulation root frame
             *  without error sources, with gravity removed. This is an informational parameter. */
            SIGNAL(perfect_accel_sf,     CartesianVector3D,         CartesianVector3D({0.0, 0.0, 0.0}))
            /** The "perfect" output acceleration produced by the accelerometer describing the 
             *  acceleration of the sensor frame relative to the simulation root frame
             *  without error sources, with gravity included. This is an informational parameter */
            SIGNAL(perfect_accel_sf_incl_grav,CartesianVector3D,    CartesianVector3D({0.0, 0.0, 0.0}))
            /** The measured output angular velocity produced by the gyro describing the 
             *  angular velocity of the sensor frame relative to the simulation root frame
             *  appropriate bias, noise, and rate limiting */
            SIGNAL(meas_ang_vel_sf,         CartesianVector3D,         CartesianVector3D({0.0, 0.0, 0.0}))
            /** The "perfect" output angular velocity produced by the gyro describing the 
             *  angular velocity of the sensor frame (incl. misalignment) relative to the simulation root frame
             *  without bias and noise. This is an informational parameter. */
            SIGNAL(perfect_ang_vel_sf,      CartesianVector3D,         CartesianVector3D({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
        /// @brief Function to access the internal accelerometer model
        /// @return Handle to the accelerometer model
        modelspace::Accelerometer* accelerometer() {return &_accelerometer;}
 
        /// @brief Function to access the internal gyro model
        /// @return Handle to the gyro model
        modelspace::Gyro* gyro() {return &_gyro;}
 
        // Model-specific implementations of startup and derivative
        IMU(Model &pnt, const std::string &m_name="imu");
        IMU(SimulationExecutive &e, const std::string &m_name="imu");
        IMU(Model &pnt, int schedule_slot, const std::string &m_name="imu");
        IMU(SimulationExecutive &e, int schedule_slot, const std::string &m_name="imu");
        virtual ~IMU() {}
    protected:
        int start();
 
        /// @brief Function to configure sensor -- runs in all constructors
        void _configureInternal();
 
        /// @brief The IMU accelerometer model
        Accelerometer _accelerometer;
 
        /// @brief The IMU gyro model
        Gyro _gyro;
    };
 
}
 
#endif