OVR::SensorFusion Class Reference

#include <OVR_SensorFusion.h>

Inheritance diagram for OVR::SensorFusion:

List of all members.

Classes
class	BodyFrameHandler
Public Member Functions
bool	AttachToSensor (SensorDevice *sensor)
void	ClearMagCalibration ()
void	ClearMagReferences ()
Vector3f	GetAcceleration () const
float	GetAccelGain () const
Vector3f	GetAngularVelocity () const
Vector3f	GetCalibratedMagnetometer () const
Vector3f	GetCalibratedMagValue (const Vector3f &rawMag) const
Vector3f	GetFilteredMagnetometer () const
Vector3f	GetMagnetometer () const
float	GetMagRefYaw () const
Quatf	GetOrientation () const
Quatf	GetPredictedOrientation (float pdt)
Quatf	GetPredictedOrientation ()
float	GetPredictionDelta () const
float	GetYawErrorAngle () const
float	GetYawMultiplier () const
bool	HasMagCalibration () const
bool	IsAttachedToSensor () const
bool	IsGravityEnabled () const
bool	IsPredictionEnabled ()
bool	IsYawCorrectionEnabled () const
bool	IsYawCorrectionInProgress () const
void	OnMessage (const MessageBodyFrame &msg)
void	Reset ()
	SensorFusion (SensorDevice *sensor=0)
void	SetAccelGain (float ag)
void	SetDelegateMessageHandler (MessageHandler *handler)
void	SetGravityEnabled (bool enableGravity)
void	SetMagCalibration (const Matrix4f &m)
void	SetMagRefDistance (const float d)
void	SetPrediction (float dt, bool enable=true)
void	SetPredictionEnabled (bool enable=true)
void	SetYawCorrectionEnabled (bool enableYawCorrection)
void	SetYawMultiplier (float y)
	~SensorFusion ()
Private Types
enum	{ MagMaxReferences = 80 }
Private Member Functions
SensorFusion *	getThis ()
void	handleMessage (const MessageBodyFrame &msg)
void	SetMagReference (const Quatf &q, const Vector3f &rawMag)
void	SetMagReference ()
Private Attributes
Vector3f	A
Vector3f	AngV
Vector3f	CalMag
float	DeltaT
volatile bool	EnableGravity
bool	EnablePrediction
bool	EnableYawCorrection
SensorFilter	FAccW
SensorFilter	FAngV
SensorFilter	FRawMag
float	Gain
BodyFrameHandler	Handler
bool	MagCalibrated
Matrix4f	MagCalibrationMatrix
int	MagCondCount
bool	MagHasNearbyReference
int	MagNumReferences
float	MagRefDistance
Vector3f	MagRefM
Quatf	MagRefQ
Vector3f	MagRefTableM [MagMaxReferences]
Quatf	MagRefTableQ [MagMaxReferences]
float	MagRefTableYaw [MagMaxReferences]
float	MagRefYaw
MessageHandler *	pDelegate
float	PredictionDT
float	PredictionTimeIncrement
Quatf	Q
Quatf	QUncorrected
Vector3f	RawMag
float	RunningTime
unsigned int	Stage
int	TiltCondCount
float	TiltErrorAngle
Vector3f	TiltErrorAxis
bool	YawCorrectionActivated
bool	YawCorrectionInProgress
float	YawErrorAngle
int	YawErrorCount
float	YawMult

---

Detailed Description

Definition at line 38 of file OVR_SensorFusion.h.

---

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

MagMaxReferences

Definition at line 40 of file OVR_SensorFusion.h.

---

Constructor & Destructor Documentation

OVR::SensorFusion::SensorFusion

(

SensorDevice *

sensor = 0

)

Definition at line 25 of file OVR_SensorFusion.cpp.

OVR::SensorFusion::~SensorFusion

(

)

Definition at line 42 of file OVR_SensorFusion.cpp.

---

Member Function Documentation

bool OVR::SensorFusion::AttachToSensor

(

SensorDevice *

sensor

)

Definition at line 47 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::ClearMagCalibration

(

)

[inline]

Definition at line 80 of file OVR_SensorFusion.h.

void OVR::SensorFusion::ClearMagReferences

(

)

[inline]

Definition at line 83 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::GetAcceleration

(

)

const [inline]

Definition at line 106 of file OVR_SensorFusion.h.

float OVR::SensorFusion::GetAccelGain

(

)

const [inline]

Definition at line 158 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::GetAngularVelocity

(

)

const [inline]

Definition at line 113 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::GetCalibratedMagnetometer

(

)

const [inline]

Definition at line 131 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::GetCalibratedMagValue

(

const Vector3f &

rawMag

)

const

Definition at line 379 of file OVR_SensorFusion.cpp.

Vector3f OVR::SensorFusion::GetFilteredMagnetometer

(

)

const [inline]

Definition at line 125 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::GetMagnetometer

(

)

const [inline]

Definition at line 119 of file OVR_SensorFusion.h.

float OVR::SensorFusion::GetMagRefYaw

(

)

const [inline]

Definition at line 140 of file OVR_SensorFusion.h.

Quatf OVR::SensorFusion::GetOrientation

(

)

const [inline]

Definition at line 95 of file OVR_SensorFusion.h.

Quatf OVR::SensorFusion::GetPredictedOrientation

(

float

pdt

)

Definition at line 328 of file OVR_SensorFusion.cpp.

Quatf OVR::SensorFusion::GetPredictedOrientation

(

)

[inline]

Definition at line 103 of file OVR_SensorFusion.h.

float OVR::SensorFusion::GetPredictionDelta

(

)

const [inline]

Definition at line 174 of file OVR_SensorFusion.h.

SensorFusion* OVR::SensorFusion::getThis

(

)

[inline, private]

Definition at line 180 of file OVR_SensorFusion.h.

float OVR::SensorFusion::GetYawErrorAngle

(

)

const [inline]

Definition at line 145 of file OVR_SensorFusion.h.

float OVR::SensorFusion::GetYawMultiplier

(

)

const [inline]

Definition at line 164 of file OVR_SensorFusion.h.

void OVR::SensorFusion::handleMessage

(

const MessageBodyFrame &

msg

)

[private]

Definition at line 96 of file OVR_SensorFusion.cpp.

bool OVR::SensorFusion::HasMagCalibration

(

)

const [inline]

Definition at line 77 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsAttachedToSensor

(

)

const [inline]

Definition at line 55 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsGravityEnabled

(

)

const [inline]

Definition at line 59 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsPredictionEnabled

(

)

[inline]

Definition at line 177 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsYawCorrectionEnabled

(

)

const [inline]

Definition at line 64 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::IsYawCorrectionInProgress

(

)

const [inline]

Definition at line 67 of file OVR_SensorFusion.h.

void OVR::SensorFusion::OnMessage

(

const MessageBodyFrame &

msg

)

[inline]

Definition at line 88 of file OVR_SensorFusion.h.

void OVR::SensorFusion::Reset

(

)

Definition at line 84 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetAccelGain

(

float

ag

)

[inline]

Definition at line 159 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetDelegateMessageHandler

(

MessageHandler *

handler

)

[inline]

Definition at line 167 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetGravityEnabled

(

bool

enableGravity

)

[inline]

Definition at line 57 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetMagCalibration

(

const Matrix4f &

m

)

[inline]

Definition at line 70 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetMagRefDistance

(

const float

d

)

[inline]

Definition at line 84 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetMagReference	(	const Quatf &	q,
		const Vector3f &	rawMag
	)		[private]

Definition at line 390 of file OVR_SensorFusion.cpp.

void OVR::SensorFusion::SetMagReference

(

)

[inline, private]

Definition at line 189 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetPrediction	(	float	dt,
		bool	enable = true
	)		[inline]

Definition at line 175 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetPredictionEnabled

(

bool

enable = true

)

[inline]

Definition at line 176 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetYawCorrectionEnabled

(

bool

enableYawCorrection

)

[inline]

Definition at line 61 of file OVR_SensorFusion.h.

void OVR::SensorFusion::SetYawMultiplier

(

float

y

)

[inline]

Definition at line 165 of file OVR_SensorFusion.h.

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Member Data Documentation

Vector3f OVR::SensorFusion::A [private]

Definition at line 204 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::AngV [private]

Definition at line 205 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::CalMag [private]

Definition at line 206 of file OVR_SensorFusion.h.

float OVR::SensorFusion::DeltaT [private]

Definition at line 210 of file OVR_SensorFusion.h.

volatile bool OVR::SensorFusion::EnableGravity [private]

Definition at line 215 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::EnablePrediction [private]

Definition at line 217 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::EnableYawCorrection [private]

Definition at line 229 of file OVR_SensorFusion.h.

SensorFilter OVR::SensorFusion::FAccW [private]

Definition at line 222 of file OVR_SensorFusion.h.

SensorFilter OVR::SensorFusion::FAngV [private]

Definition at line 223 of file OVR_SensorFusion.h.

SensorFilter OVR::SensorFusion::FRawMag [private]

Definition at line 221 of file OVR_SensorFusion.h.

float OVR::SensorFusion::Gain [private]

Definition at line 213 of file OVR_SensorFusion.h.

BodyFrameHandler OVR::SensorFusion::Handler [private]

Definition at line 211 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::MagCalibrated [private]

Definition at line 231 of file OVR_SensorFusion.h.

Matrix4f OVR::SensorFusion::MagCalibrationMatrix [private]

Definition at line 230 of file OVR_SensorFusion.h.

int OVR::SensorFusion::MagCondCount [private]

Definition at line 232 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::MagHasNearbyReference [private]

Definition at line 237 of file OVR_SensorFusion.h.

int OVR::SensorFusion::MagNumReferences [private]

Definition at line 241 of file OVR_SensorFusion.h.

float OVR::SensorFusion::MagRefDistance [private]

Definition at line 233 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::MagRefM [private]

Definition at line 235 of file OVR_SensorFusion.h.

Quatf OVR::SensorFusion::MagRefQ [private]

Definition at line 234 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::MagRefTableM[MagMaxReferences] [private]

Definition at line 239 of file OVR_SensorFusion.h.

Quatf OVR::SensorFusion::MagRefTableQ[MagMaxReferences] [private]

Definition at line 238 of file OVR_SensorFusion.h.

float OVR::SensorFusion::MagRefTableYaw[MagMaxReferences] [private]

Definition at line 240 of file OVR_SensorFusion.h.

float OVR::SensorFusion::MagRefYaw [private]

Definition at line 236 of file OVR_SensorFusion.h.

MessageHandler* OVR::SensorFusion::pDelegate [private]

Definition at line 212 of file OVR_SensorFusion.h.

float OVR::SensorFusion::PredictionDT [private]

Definition at line 218 of file OVR_SensorFusion.h.

float OVR::SensorFusion::PredictionTimeIncrement [private]

Definition at line 219 of file OVR_SensorFusion.h.

Quatf OVR::SensorFusion::Q [private]

Definition at line 202 of file OVR_SensorFusion.h.

Quatf OVR::SensorFusion::QUncorrected [private]

Definition at line 203 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::RawMag [private]

Definition at line 207 of file OVR_SensorFusion.h.

float OVR::SensorFusion::RunningTime [private]

Definition at line 209 of file OVR_SensorFusion.h.

unsigned int OVR::SensorFusion::Stage [private]

Definition at line 208 of file OVR_SensorFusion.h.

int OVR::SensorFusion::TiltCondCount [private]

Definition at line 225 of file OVR_SensorFusion.h.

float OVR::SensorFusion::TiltErrorAngle [private]

Definition at line 226 of file OVR_SensorFusion.h.

Vector3f OVR::SensorFusion::TiltErrorAxis [private]

Definition at line 227 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::YawCorrectionActivated [private]

Definition at line 245 of file OVR_SensorFusion.h.

bool OVR::SensorFusion::YawCorrectionInProgress [private]

Definition at line 244 of file OVR_SensorFusion.h.

float OVR::SensorFusion::YawErrorAngle [private]

Definition at line 242 of file OVR_SensorFusion.h.

int OVR::SensorFusion::YawErrorCount [private]

Definition at line 243 of file OVR_SensorFusion.h.

float OVR::SensorFusion::YawMult [private]

Definition at line 214 of file OVR_SensorFusion.h.

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

• OVR_SensorFusion.h
• OVR_SensorFusion.cpp