ImuFilter Class Reference

#include <imu_filter.h>

Public Member Functions
void	getGravity (float &rx, float &ry, float &rz, float gravity=9.80665)
void	getOrientation (double &q0, double &q1, double &q2, double &q3)
	ImuFilter ()
void	madgwickAHRSupdate (float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt)
void	madgwickAHRSupdateIMU (float gx, float gy, float gz, float ax, float ay, float az, float dt)
void	setAlgorithmGain (double gain)
void	setDriftBiasGain (double zeta)
void	setOrientation (double q0, double q1, double q2, double q3)
void	setWorldFrame (WorldFrame::WorldFrame frame)
virtual	~ImuFilter ()

Private Attributes
double	gain_
double	q0
double	q1
double	q2
double	q3
float	w_bx_
float	w_by_
float	w_bz_
WorldFrame::WorldFrame	world_frame_
double	zeta_

Detailed Description

Definition at line 32 of file imu_filter.h.

Constructor & Destructor Documentation

ImuFilter::ImuFilter

(

)

Definition at line 164 of file imu_filter.cpp.

ImuFilter::~ImuFilter ( )

virtual

Definition at line 171 of file imu_filter.cpp.

Member Function Documentation

void ImuFilter::getGravity	(	float &	rx,
		float &	ry,
		float &	rz,
		float	gravity = 9.80665
	)

Definition at line 313 of file imu_filter.cpp.

void ImuFilter::getOrientation ( double &  q0, double &  q1, double &  q2, double &  q3  )

inline

Definition at line 65 of file imu_filter.h.

void ImuFilter::madgwickAHRSupdate	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	mx,
		float	my,
		float	mz,
		float	dt
	)

Definition at line 175 of file imu_filter.cpp.

void ImuFilter::madgwickAHRSupdateIMU	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	dt
	)

Definition at line 258 of file imu_filter.cpp.

void ImuFilter::setAlgorithmGain ( double  gain )

inline

Definition at line 50 of file imu_filter.h.

void ImuFilter::setDriftBiasGain ( double  zeta )

inline

Definition at line 55 of file imu_filter.h.

void ImuFilter::setOrientation ( double  q0, double  q1, double  q2, double  q3  )

inline

Definition at line 82 of file imu_filter.h.

void ImuFilter::setWorldFrame ( WorldFrame::WorldFrame  frame )

inline

Definition at line 60 of file imu_filter.h.

Member Data Documentation

double ImuFilter::gain_

private

Definition at line 41 of file imu_filter.h.

double ImuFilter::q0

private

Definition at line 46 of file imu_filter.h.

double ImuFilter::q1

private

Definition at line 46 of file imu_filter.h.

double ImuFilter::q2

private

Definition at line 46 of file imu_filter.h.

double ImuFilter::q3

private

Definition at line 46 of file imu_filter.h.

float ImuFilter::w_bx_

private

Definition at line 47 of file imu_filter.h.

float ImuFilter::w_by_

private

Definition at line 47 of file imu_filter.h.

float ImuFilter::w_bz_

private

Definition at line 47 of file imu_filter.h.

WorldFrame::WorldFrame ImuFilter::world_frame_

private

Definition at line 43 of file imu_filter.h.

double ImuFilter::zeta_

private

Definition at line 42 of file imu_filter.h.

---

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

• imu_filter.h
• imu_filter.cpp