#include <cmath>
#include "imu_filter_madgwick/imu_filter.h"

Include dependency graph for imu_filter.cpp:

Functions
static void	addGradientDescentStep (float q0, float q1, float q2, float q3, float _2dx, float _2dy, float _2dz, float mx, float my, float mz, float &s0, float &s1, float &s2, float &s3)

static void	compensateGyroDrift (float q0, float q1, float q2, float q3, float s0, float s1, float s2, float s3, float dt, float zeta, float &w_bx, float &w_by, float &w_bz, float &gx, float &gy, float &gz)

static void	compensateMagneticDistortion (float q0, float q1, float q2, float q3, float mx, float my, float mz, float &_2bxy, float &_2bz)

static float	invSqrt (float x)

template<typename T >
static void	normalizeQuaternion (T &q0, T &q1, T &q2, T &q3)

template<typename T >
static void	normalizeVector (T &vx, T &vy, T &vz)

static void	orientationChangeFromGyro (float q0, float q1, float q2, float q3, float gx, float gy, float gz, float &qDot1, float &qDot2, float &qDot3, float &qDot4)

static void	rotateAndScaleVector (float q0, float q1, float q2, float q3, float _2dx, float _2dy, float _2dz, float &rx, float &ry, float &rz)

Function Documentation

static void addGradientDescentStep	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	_2dx,
		float	_2dy,
		float	_2dz,
		float	mx,
		float	my,
		float	mz,
		float &	s0,
		float &	s1,
		float &	s2,
		float &	s3
	)

inlinestatic

Definition at line 116 of file imu_filter.cpp.

static void compensateGyroDrift	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	s0,
		float	s1,
		float	s2,
		float	s3,
		float	dt,
		float	zeta,
		float &	w_bx,
		float &	w_by,
		float &	w_bz,
		float &	gx,
		float &	gy,
		float &	gz
	)

inlinestatic

Definition at line 82 of file imu_filter.cpp.

static void compensateMagneticDistortion	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	mx,
		float	my,
		float	mz,
		float &	_2bxy,
		float &	_2bz
	)

inlinestatic

Definition at line 149 of file imu_filter.cpp.

static float invSqrt ( float x )

static

Definition at line 30 of file imu_filter.cpp.

template<typename T >

static void normalizeQuaternion	(	T &	q0,
		T &	q1,
		T &	q2,
		T &	q3
	)

inlinestatic

Definition at line 55 of file imu_filter.cpp.

template<typename T >

static void normalizeVector	(	T &	vx,
		T &	vy,
		T &	vz
	)

inlinestatic

Definition at line 46 of file imu_filter.cpp.

static void orientationChangeFromGyro	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	gx,
		float	gy,
		float	gz,
		float &	qDot1,
		float &	qDot2,
		float &	qDot3,
		float &	qDot4
	)

inlinestatic

Definition at line 103 of file imu_filter.cpp.

static void rotateAndScaleVector	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	_2dx,
		float	_2dy,
		float	_2dz,
		float &	rx,
		float &	ry,
		float &	rz
	)

inlinestatic

Definition at line 64 of file imu_filter.cpp.

Functions