Functions
imu_filter.cpp File Reference
#include <cmath>
#include "imu_filter_madgwick/imu_filter.h"
Include dependency graph for imu_filter.cpp:

Go to the source code of this file.

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.



imu_filter_madgwick
Author(s): Ivan Dryanovski
autogenerated on Thu Jun 18 2020 03:40:00