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Author: hanley6

SensorModel/Debug/SensorModel.exe

@@ -1,9 +1,9 @@
   main.cpp
   SensorModel.cpp
-c:\users\dave\desktop\imusensormodels-master\tmp\sensormodel\sensormodel\sensormodel.cpp(200): warning C4101: 'sig_eta': unreferenced local variable
-c:\users\dave\desktop\imusensormodels-master\tmp\sensormodel\sensormodel\sensormodel.cpp(201): warning C4101: 'eta': unreferenced local variable
-c:\users\dave\desktop\imusensormodels-master\tmp\sensormodel\sensormodel\sensormodel.cpp(199): warning C4101: 'b_d': unreferenced local variable
-c:\users\dave\desktop\imusensormodels-master\tmp\sensormodel\sensormodel\sensormodel.cpp(198): warning C4101: 'a_d': unreferenced local variable
+c:\users\dave\desktop\imusensormodels-master\sensormodel\sensormodel\sensormodel.cpp(200): warning C4101: 'sig_eta': unreferenced local variable
+c:\users\dave\desktop\imusensormodels-master\sensormodel\sensormodel\sensormodel.cpp(201): warning C4101: 'eta': unreferenced local variable
+c:\users\dave\desktop\imusensormodels-master\sensormodel\sensormodel\sensormodel.cpp(199): warning C4101: 'b_d': unreferenced local variable
+c:\users\dave\desktop\imusensormodels-master\sensormodel\sensormodel\sensormodel.cpp(198): warning C4101: 'a_d': unreferenced local variable
   Generating Code...
-  SensorModel.vcxproj -> C:\Users\Dave\Desktop\IMUSensorModels-master\tmp\SensorModel\Debug\SensorModel.exe
-  SensorModel.vcxproj -> C:\Users\Dave\Desktop\IMUSensorModels-master\tmp\SensorModel\Debug\SensorModel.pdb (Partial PDB)
+  SensorModel.vcxproj -> C:\Users\Dave\Desktop\IMUSensorModels-master\SensorModel\Debug\SensorModel.exe
+  SensorModel.vcxproj -> C:\Users\Dave\Desktop\IMUSensorModels-master\SensorModel\Debug\SensorModel.pdb (Partial PDB)

SensorModel/Debug/SensorModel.ilk

@@ -1,2 +1,2 @@
 #TargetFrameworkVersion=v4.0:PlatformToolSet=v140:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit:WindowsTargetPlatformVersion=8.1
-Debug|Win32|C:\Users\Dave\Desktop\IMUSensorModels-master\tmp\SensorModel\|
+Debug|Win32|C:\Users\Dave\Desktop\IMUSensorModels-master\SensorModel\|

SensorModel/Debug/SensorModel.pdb

@@ -248,6 +248,111 @@ void SensorModel::SensorModelOutput(void)
 	}
 }
 /*----------------- End SensorModelOutput ----------------*/
+
+/*-------------------- Set value of B --------------------*/
+// Set the mean square value of bias instability. 
+void SensorModel::SetB(double B_input)
+{
+	B = B_input;
+}
+/*------------------ End Set value of B ------------------*/
+
+/*-------------------- Set value of K --------------------*/
+// Set the mean square value of rate random walk 
+void SensorModel::SetK(double K_input)
+{
+	K = K_input;
+}
+/*------------------ End Set value of K ------------------*/
+
+/*-------------------- Set value of T --------------------*/
+// Set the time window at minimum of Allan variance 
+void SensorModel::SetT(double T_input)
+{
+	T = T_input;
+}
+/*------------------ End Set value of T ------------------*/
+
+/*------------------- Set value of freq ------------------*/
+// Set the frequency of sensor measurements 
+void SensorModel::Setfreq(double freq_input)
+{
+	freq = freq_input;
+}
+/*----------------- End Set value of freq ----------------*/
+
+/*----------------- Set value of sig_meas ----------------*/
+// Set the standard deviation of total sensor measurement (assuming error of mean zero)
+void SensorModel::Setsig_meas(double sig_meas_input)
+{
+	sig_meas = sig_meas_input;
+}
+/*--------------- End Set value of sig_meas --------------*/
+
+/*------------------ Set value of sig_w ------------------*/
+// Set the standard deviation used in rate random walk contribution so that
+// low frequency of RRW PSD matches low frequency of the PSD from dataset of sensor data
+void SensorModel::Setsig_w(double sig_w_input)
+{
+	sig_w = sig_w_input;
+}
+/*---------------- End Set value of sig_w ----------------*/
+
+/*------------------- Set value of bias ------------------*/
+// Set the current value of bias instability contribution
+void SensorModel::Setbias(double bias_input)
+{
+	bias = bias_input;
+}
+/*---------------- End Set value of bias -----------------*/
+
+/*------------------- Set value of rrw -------------------*/
+// Set the current value of rate random walk contribution
+void SensorModel::Setrrw(double rrw_input)
+{
+	rrw = rrw_input;
+}
+/*----------------- End Set value of rrw -----------------*/
+
+/*-------------------- Set value of S --------------------*/
+// Set the scale factor error. 
+void SensorModel::SetS(double S_input)
+{
+	S = S_input;
+}
+/*------------------ End Set value of S ------------------*/
+
+/*-------------------- Set value of Bf -------------------*/
+// Set the measurement bias
+void SensorModel::SetBf(double Bf_input)
+{
+	Bf = Bf_input;
+}
+/*------------------ End Set value of Bf -----------------*/
+
+/*--------- Set value of true sensor measurement ---------*/
+// Set the true sensor value that will be corrupted by stochastic errors and deterministic errors
+void SensorModel::SetSensorMeasTrue(double SensorMeasTrue_input)
+{
+	SensorMeasTrue = SensorMeasTrue_input;
+}
+/*------- End Set value of true sensor measurement -------*/
+
+/*------------------- Get value of freq ------------------*/
+// Get the frequency of sensor measurements 
+double SensorModel::Getfreq(void)
+{
+	return freq;
+}
+/*----------------- End Get value of freq ----------------*/
+
+/*------------- Get Corrupted Sensor Output --------------*/
+// Get the corrupted sensor output value
+double SensorModel::GetSensorOutput(void)
+{
+	return SensorOutput;
+}
+/*----------- End Get Corrupted Sensor Output ------------*/
 /*-----------------------------------------------------------------------------*/
 /*------------------------------ End Helpers ----------------------------------*/
 /*-----------------------------------------------------------------------------*/

SensorModel/SensorModel.VC.db

@@ -8,29 +8,32 @@ class SensorModel
 	// Choose anything besides 1 for using Kalibr
 	SensorModel(int Kalibr);
 
-	/*----- Parameters that describe errors (both stochastic and deterministic of an IMU sensor) -----*/
+	/*----- Set Values that describe errors (both stochastic and deterministic of an IMU sensor) ------*/
 	// Stochastic Parameters
-	double B;		 // Mean Square Value of Bias Instability
-	double K;		 // Mean Square Value of Rate Random Walk
-	double T;		 // Time Window at Minimum of Allan Variance
-	double freq;	 // Frequency of Sensor Measurements
-	double sig_meas; // Standard Deviation of Total Sensor Measurement (assuming error of mean zero)
-	double sig_w;	 // Standard deviation used in rate random walk contribution so that 
-					 // low frequency of RRW PSD matches low frequency of the PSD from 
-					 // dataset of sensor data
-	double bias;	 // Current Value of Bias Instability Contribution
-	double rrw;		 // Current Value of Rate Random Walk Contribution
+	void SetB(double B_input);					// Mean Square Value of Bias Instability
+	void SetK(double K_input);					// Mean Square Value of Rate Random Walk
+	void SetT(double T_input);					// Time Window at Minimum of Allan Variance
+	void Setfreq(double freq_input);			// Frequency of Sensor Measurements
+	void Setsig_meas(double sig_meas_input);	// Standard Deviation of Total Sensor Measurement (assuming error of mean zero)
+	void Setsig_w(double sig_w_input);			// Standard deviation used in rate random walk contribution so that
+												// low frequency of RRW PSD matches low frequency of the PSD from dataset of sensor data
+	void Setbias(double bias_input);			// Current value of bias instability contribution
+	void Setrrw(double rrw_input);				// Current value of rate random walk contribution
 
 	// Deterministic Parameters
-	double S;		// Scale factor error
-	double Bf;		// Measurement bias
-	/*--- End Parameters that describe errors (both stochastic and deterministic of an IMU sensor) ---*/
+	void SetS(double S_input);					// Scale factor error
+	void SetBf(double Bf_input);				// Measurement bias
+	/*--- End Set Values that describe errors (both stochastic and deterministic of an IMU sensor) ----*/
 
-	// True sensor value that will be corrupted by stochastic errors and deterministic errors
-	double SensorMeasTrue;
+	/*---------- Get Values that describe IMU measurements ----------*/
+	// Get the frequency of sensor measurements
+	double Getfreq(void);
+	// Get the corrupted sensor output value
+	double GetSensorOutput(void);
+	/*-------- End Get Values that describe IMU measurements --------*/
 
-	// Corrupted Sensor Output Value
-	double SensorOutput;
+	// Set the true sensor value that will be corrupted by stochastic errors and deterministic errors
+	void SetSensorMeasTrue(double SensorMeasTrue_input);
 
 	// Compute Corrupted Sensor Output
 	void SensorModelOutput(void);
@@ -41,6 +44,12 @@ class SensorModel
 	// Corrupted Deterministic Sensor Output
 	double DetSensorOutput;
 
+	// True sensor value that will be corrupted by stochastic errors and deterministic errors
+	double SensorMeasTrue;
+
+	// Corrupted Sensor Output Value
+	double SensorOutput;
+
 	// Function that Computes the Sensor Output with Deterministic Error Contributors
 	void SensorDetModel(void);
 
@@ -49,4 +58,22 @@ class SensorModel
 
 	// Function that Computes the Sensor Output with Stochastic Error Contributors using Kalibr Model.
 	void SensorStocModel_Kalibr(void);
+
+	/*----- Parameters that describe errors (both stochastic and deterministic of an IMU sensor) -----*/
+	// Stochastic Parameters
+	double B;		 // Mean Square Value of Bias Instability
+	double K;		 // Mean Square Value of Rate Random Walk
+	double T;		 // Time Window at Minimum of Allan Variance
+	double freq;	 // Frequency of Sensor Measurements
+	double sig_meas; // Standard Deviation of Total Sensor Measurement (assuming error of mean zero)
+	double sig_w;	 // Standard deviation used in rate random walk contribution so that 
+					 // low frequency of RRW PSD matches low frequency of the PSD from 
+					 // dataset of sensor data
+	double bias;	 // Current Value of Bias Instability Contribution
+	double rrw;		 // Current Value of Rate Random Walk Contribution
+
+					 // Deterministic Parameters
+	double S;		// Scale factor error
+	double Bf;		// Measurement bias
+	/*--- End Parameters that describe errors (both stochastic and deterministic of an IMU sensor) ---*/
 };

SensorModel/SensorModel/Debug/SensorModel.log

@@ -68,16 +68,16 @@ int main()
 	SensorModel gyro_x;
 
 	// Set sensor parameters
-	gyro_x.B = 4.889237695747431e-05;
-	gyro_x.K = 1.309017731704734e-06;
-	gyro_x.bias = 0.0;
-	gyro_x.freq = 98.4163;
-	gyro_x.rrw = 0.0;
-	gyro_x.sig_meas = 0.009626800281770;
-	gyro_x.sig_w = 10.0;
-	gyro_x.T = 1.608951674938202e+03;
-	gyro_x.S = 0.0;
-	gyro_x.Bf = 0.0;
+	gyro_x.SetB(4.889237695747431e-05);
+	gyro_x.SetK(1.309017731704734e-06);	
+	gyro_x.Setbias(0.0);
+	gyro_x.Setfreq(98.4163);
+	gyro_x.Setrrw(0.0);
+	gyro_x.Setsig_meas(0.009626800281770);
+	gyro_x.Setsig_w(10.0);
+	gyro_x.SetT(1.608951674938202e+03);
+	gyro_x.SetS(0.0);
+	gyro_x.SetBf(0.0);
 
 	// Output File Initializations
 	outData = fopen("Simulation_Output.txt", "w");
@@ -91,19 +91,19 @@ int main()
 	for (int i = 1; i <= iter_max; i++)
 	{ 
 		// Error-free sensor measurement
-		gyro_x.SensorMeasTrue = 0.0;
+		gyro_x.SetSensorMeasTrue(0.0);
 		// Compute corrupted sensor measuremnt
 		gyro_x.SensorModelOutput();
 		// Print result to file
-		fprintf(outData, "%f\t%f \n",((double)i) / gyro_x.freq - 1.0 / gyro_x.freq,gyro_x.SensorOutput);
+		fprintf(outData, "%f\t%f \n",((double)i) / gyro_x.Getfreq() - 1.0 / gyro_x.Getfreq(),gyro_x.GetSensorOutput());
 		// Print time to console
-		printf("Time: %f seconds\r", ((double) i)/ gyro_x.freq - 1.0/ gyro_x.freq);
+		printf("Time: %f seconds\r", ((double) i)/ gyro_x.Getfreq() - 1.0/ gyro_x.Getfreq());
 	}
 	/*-------------- End Run Simulation -------------*/
 
 	/*------------------- Closings ------------------*/
 	// Closing Console Output
-	printf("Time: %f seconds\n", ((double) iter_max) / gyro_x.freq - 1.0 / gyro_x.freq);
+	printf("Time: %f seconds\n", ((double) iter_max) / gyro_x.Getfreq() - 1.0 / gyro_x.Getfreq());
 	printf("Sensor Model Simulation Complete!\n");
 
 	// Closing File