#include <madgwickahrs.hh>

Inheritance diagram for dynamicgraph::sot::MadgwickAHRS:

Public Member Functions
	DECLARE_SIGNAL_IN (accelerometer, dynamicgraph::Vector)
	ax ay az in m.s-2 More...

	DECLARE_SIGNAL_IN (gyroscope, dynamicgraph::Vector)
	gx gy gz in rad.s-1 More...

	DECLARE_SIGNAL_OUT (imu_quat, dynamicgraph::Vector)
	Estimated orientation of IMU as a quaternion. More...

void	init (const double &dt)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MadgwickAHRS (const std::string &name)

void	set_beta (const double &beta)

void	set_imu_quat (const dynamicgraph::Vector &imu_quat)
	Set the quaternion as [w,x,y,z]. More...

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

virtual const std::string &	getClassName () const

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger const &	logger () const

Logger &	logger ()

Logger const &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Protected Member Functions
virtual void	display (std::ostream &os) const

double	invSqrt (double x)

void	madgwickAHRSupdateIMU (double gx, double gy, double gz, double ax, double ay, double az)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes
double	m_beta
	2 * proportional gain (Kp) More...

bool	m_initSucceeded
	true if the entity has been successfully initialized More...

double	m_q0
	quaternion of sensor frame More...

double	m_q1

double	m_q2

double	m_q3

double	m_sampleFreq
	sample frequency in Hz More...

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Types
typedef MadgwickAHRS	EntityClassName

Private Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command *>	CommandMap_t

typedef std::map< std::string, SignalBase< int > *>	SignalMap

Detailed Description

Definition at line 85 of file madgwickahrs.hh.

Member Typedef Documentation

◆ EntityClassName

typedef MadgwickAHRS dynamicgraph::sot::MadgwickAHRS::EntityClassName

private

Definition at line 86 of file madgwickahrs.hh.

Constructor & Destructor Documentation

◆ MadgwickAHRS()

dynamicgraph::sot::MadgwickAHRS::MadgwickAHRS ( const std::string & name )

Definition at line 44 of file madgwickahrs.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/2]

dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_IN	(	accelerometer	,
		dynamicgraph::Vector
	)

ax ay az in m.s-2

◆ DECLARE_SIGNAL_IN() [2/2]

dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_IN	(	gyroscope	,
		dynamicgraph::Vector
	)

gx gy gz in rad.s-1

◆ DECLARE_SIGNAL_OUT()

dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_OUT	(	imu_quat	,
		dynamicgraph::Vector
	)

Estimated orientation of IMU as a quaternion.

◆ display()

void dynamicgraph::sot::MadgwickAHRS::display ( std::ostream & os ) const

protectedvirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 226 of file madgwickahrs.cpp.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::MadgwickAHRS::DYNAMIC_GRAPH_ENTITY_DECL ( )

private

◆ init()

void dynamicgraph::sot::MadgwickAHRS::init ( const double & dt )

Definition at line 77 of file madgwickahrs.cpp.

◆ invSqrt()

double dynamicgraph::sot::MadgwickAHRS::invSqrt ( double x )

protected

Definition at line 134 of file madgwickahrs.cpp.

◆ madgwickAHRSupdateIMU()

void dynamicgraph::sot::MadgwickAHRS::madgwickAHRSupdateIMU	(	double	gx,
		double	gy,
		double	gz,
		double	ax,
		double	ay,
		double	az
	)

protected

Definition at line 147 of file madgwickahrs.cpp.

◆ set_beta()

void dynamicgraph::sot::MadgwickAHRS::set_beta ( const double & beta )

Definition at line 83 of file madgwickahrs.cpp.

◆ set_imu_quat()

void dynamicgraph::sot::MadgwickAHRS::set_imu_quat ( const dynamicgraph::Vector & imu_quat )

Set the quaternion as [w,x,y,z].

Definition at line 89 of file madgwickahrs.cpp.

Member Data Documentation

◆ m_beta

double dynamicgraph::sot::MadgwickAHRS::m_beta

protected

2 * proportional gain (Kp)

Definition at line 123 of file madgwickahrs.hh.

◆ m_initSucceeded

bool dynamicgraph::sot::MadgwickAHRS::m_initSucceeded

protected

true if the entity has been successfully initialized

Definition at line 121 of file madgwickahrs.hh.

◆ m_q0

double dynamicgraph::sot::MadgwickAHRS::m_q0

protected

quaternion of sensor frame

Definition at line 125 of file madgwickahrs.hh.

◆ m_q1

double dynamicgraph::sot::MadgwickAHRS::m_q1

protected

Definition at line 125 of file madgwickahrs.hh.

◆ m_q2

double dynamicgraph::sot::MadgwickAHRS::m_q2

protected

Definition at line 125 of file madgwickahrs.hh.

◆ m_q3

double dynamicgraph::sot::MadgwickAHRS::m_q3

protected

Definition at line 125 of file madgwickahrs.hh.

◆ m_sampleFreq

double dynamicgraph::sot::MadgwickAHRS::m_sampleFreq

protected

sample frequency in Hz

Definition at line 127 of file madgwickahrs.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EntityClassName

Constructor & Destructor Documentation

◆ MadgwickAHRS()

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/2]

◆ DECLARE_SIGNAL_IN() [2/2]

◆ DECLARE_SIGNAL_OUT()

◆ display()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ init()

◆ invSqrt()

◆ madgwickAHRSupdateIMU()

◆ set_beta()

◆ set_imu_quat()

Member Data Documentation

◆ m_beta

◆ m_initSucceeded

◆ m_q0

◆ m_q1

◆ m_q2

◆ m_q3

◆ m_sampleFreq