rtabmap::IMUFilter Class Reference

#include <IMUFilter.h>

Inheritance diagram for rtabmap::IMUFilter:

Public Types
enum	Type { kMadgwick =0, kComplementaryFilter =1 }

Public Member Functions
virtual void	getOrientation (double &qx, double &qy, double &qz, double &qw) const =0
virtual void	parseParameters (const ParametersMap &parameters)
virtual void	reset (double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0
virtual IMUFilter::Type	type () const =0
void	update (double gx, double gy, double gz, double ax, double ay, double az, double stamp)
virtual	~IMUFilter ()

Static Public Member Functions
static IMUFilter *	create (const ParametersMap &parameters=ParametersMap())
static IMUFilter *	create (IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())

Protected Member Functions
	IMUFilter (const ParametersMap &parameters=ParametersMap())

Private Member Functions
virtual void	updateImpl (double gx, double gy, double gz, double ax, double ay, double az, double dt)=0

Private Attributes
double	previousStamp_

Detailed Description

Definition at line 36 of file IMUFilter.h.

Member Enumeration Documentation

Type

enum rtabmap::IMUFilter::Type

Enumerator
kMadgwick
kComplementaryFilter

Definition at line 39 of file IMUFilter.h.

Constructor & Destructor Documentation

~IMUFilter()

virtual rtabmap::IMUFilter::~IMUFilter ( )

inlinevirtual

Definition at line 48 of file IMUFilter.h.

IMUFilter()

rtabmap::IMUFilter::IMUFilter ( const ParametersMap &  parameters = ParametersMap() )

inlineprotected

Definition at line 60 of file IMUFilter.h.

Member Function Documentation

create() [1/2]

IMUFilter * rtabmap::IMUFilter::create ( const ParametersMap &  parameters = ParametersMap() )

static

Definition at line 38 of file IMUFilter.cpp.

create() [2/2]

IMUFilter * rtabmap::IMUFilter::create ( IMUFilter::Type  type, const ParametersMap &  parameters = ParametersMap()  )

static

Definition at line 45 of file IMUFilter.cpp.

getOrientation()

virtual void rtabmap::IMUFilter::getOrientation ( double &  qx, double &  qy, double &  qz, double &  qw  ) const

pure virtual

Implemented in rtabmap::ComplementaryFilter, and rtabmap::MadgwickFilter.

parseParameters()

virtual void rtabmap::IMUFilter::parseParameters ( const ParametersMap &  parameters )

inlinevirtual

Reimplemented in rtabmap::ComplementaryFilter, and rtabmap::MadgwickFilter.

Definition at line 47 of file IMUFilter.h.

reset()

virtual void rtabmap::IMUFilter::reset ( double  qx = 0.0, double  qy = 0.0, double  qz = 0.0, double  qw = 1.0  )

pure virtual

Implemented in rtabmap::ComplementaryFilter, and rtabmap::MadgwickFilter.

type()

virtual IMUFilter::Type rtabmap::IMUFilter::type ( ) const

pure virtual

Implemented in rtabmap::ComplementaryFilter, and rtabmap::MadgwickFilter.

update()

void rtabmap::IMUFilter::update	(	double	gx,
		double	gy,
		double	gz,
		double	ax,
		double	ay,
		double	az,
		double	stamp
	)

Definition at line 72 of file IMUFilter.cpp.

updateImpl()

virtual void rtabmap::IMUFilter::updateImpl ( double  gx, double  gy, double  gz, double  ax, double  ay, double  az, double  dt  )

privatepure virtual

Implemented in rtabmap::MadgwickFilter, and rtabmap::ComplementaryFilter.

Member Data Documentation

previousStamp_

double rtabmap::IMUFilter::previousStamp_

private

Definition at line 73 of file IMUFilter.h.

---

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

• IMUFilter.h
• IMUFilter.cpp