BipedalLocomotion::Estimators::FloatingBaseEstimators::SensorsStdDev struct

#include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimatorParams.h>

Public variables

Eigen::Vector3d accelerometerNoise

Additive white Gaussian noise deviation for accelerometer measurements Expressed in local frame as m/(s^2), in continuous time.

Eigen::Vector3d gyroscopeNoise

Additive white Gaussian noise deviation for gyroscope measurements Expressed in local frame as rad/s, in continuous time.

Eigen::Vector3d accelerometerBiasNoise

Random walk bias noise deviation for accelerometer measurements Expressed in local frame as m/s^3, in continuous time.

Eigen::Vector3d gyroscopeBiasNoise

Random walk bias noise deviation for gyroscope measurements Expressed in local frame as rad/s^2, in continuous time.

Eigen::Vector3d contactFootLinvelNoise

White Gaussian noise deviation for linear feet velocities in rigid contact with the environment Expressed in local frame as m/s^2, in continuous time.

Eigen::Vector3d contactFootAngvelNoise

White Gaussian noise deviation for angular feet velocities in rigid contact with the environment Expressed in local frame as rad/s, in continuous time.

Eigen::Vector3d swingFootLinvelNoise

White Gaussian noise deviation for linear feet velocities in swing phase Expressed in local frame as m/s^2, in continuous time.

Eigen::Vector3d swingFootAngvelNoise

White Gaussian noise deviation for angular feet velocities in swing phase Expressed in local frame as rad/s, in continuous time.

Eigen::Matrix<double, 6, 1> forwardKinematicsNoise

White Gaussian noise deviation for relative kinematics between IMU frame to foot contact frames Expressed in local frame, in continuous time.

Eigen::VectorXd encodersNoise

White Gaussian noise deviation for encoder measurements in continuous time.

Eigen::Matrix<double, 6, 1> landmarkPredictionNoise

White Gaussian noise deviation for landmark relative pose predictions in continuous time.

Eigen::Matrix<double, 6, 1> landmarkMeasurementNoise

White Gaussian noise deviation for landmark relative pose measurments in continuous time.

Eigen::Vector3d imuFrameLinearVelocityNoise

White Gaussian noise deviation for linear velocity of IMU frame wrt inertial frame Expressed in local frame as m/s, in continuous time.

Eigen::Vector3d imuFrameAngularVelocityNoise

White Gaussian noise deviation for angular velocity of IMU frame wrt inertial frame Expressed in local frame as rad/s, in continuous time.