corelib
include
rtabmap
core
IMUFilter.h
Go to the documentation of this file.
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/*
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Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_
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#define CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_
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#include "rtabmap/core/rtabmap_core_export.h"
// DLL export/import defines
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#include <
rtabmap/core/Parameters.h
>
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#include <Eigen/Geometry>
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namespace
rtabmap
{
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class
RTABMAP_CORE_EXPORT
IMUFilter
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{
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public
:
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enum
Type
{
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kMadgwick=0,
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kComplementaryFilter=1};
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public
:
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static
IMUFilter
*
create
(
const
ParametersMap
& parameters =
ParametersMap
());
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static
IMUFilter
*
create
(
IMUFilter::Type
type
,
const
ParametersMap
& parameters =
ParametersMap
());
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public
:
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virtual
void
parseParameters
(
const
ParametersMap
& parameters) {}
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virtual
~IMUFilter
(){}
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void
update
(
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double
gx,
double
gy,
double
gz,
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double
ax,
double
ay,
double
az,
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double
stamp);
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virtual
IMUFilter::Type
type
()
const
= 0;
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virtual
void
getOrientation(
double
& qx,
double
& qy,
double
& qz,
double
& qw)
const
= 0;
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virtual
void
reset(
double
qx = 0.0,
double
qy = 0.0,
double
qz = 0.0,
double
qw = 1.0) = 0;
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protected
:
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IMUFilter
(
const
ParametersMap
& parameters =
ParametersMap
()) : previousStamp_(0) {}
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private
:
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// Update from accelerometer and gyroscope data.
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// [gx, gy, gz]: Angular veloctiy, in rad / s.
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// [ax, ay, az]: Normalized gravity vector.
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// dt: time delta, in seconds.
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virtual
void
updateImpl(
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double
gx,
double
gy,
double
gz,
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double
ax,
double
ay,
double
az,
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double
dt) = 0;
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private
:
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double
previousStamp_
;
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};
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}
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#endif
/* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */
create
ADT create(const Signature &signature)
update
def update(text)
rtabmap::IMUFilter::IMUFilter
IMUFilter(const ParametersMap ¶meters=ParametersMap())
Definition:
IMUFilter.h:61
type
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition:
Parameters.h:43
rtabmap::IMUFilter::Type
Type
Definition:
IMUFilter.h:40
Parameters.h
rtabmap::IMUFilter
Definition:
IMUFilter.h:37
Type
rtabmap::IMUFilter::~IMUFilter
virtual ~IMUFilter()
Definition:
IMUFilter.h:49
rtabmap::IMUFilter::parseParameters
virtual void parseParameters(const ParametersMap ¶meters)
Definition:
IMUFilter.h:48
rtabmap
Definition:
CameraARCore.cpp:35
rtabmap::IMUFilter::previousStamp_
double previousStamp_
Definition:
IMUFilter.h:74
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11