Functions
static void	perturb_orientation (const Eigen::Vector3d &angular_rate, Eigen::Quaterniond &rotation)
	helper function to apply an angular rate to a quaternion This function updated a quaternion using an angular rate measure
static void	remove_gravity (const Eigen::Quaterniond &orientation, const Eigen::Vector3d &measured_acc, const Eigen::Vector3d &acc_bias, const Eigen::Vector3d &gravity, Eigen::Vector3d &acc)
	helper function to remove the gravity component from an accelerometer measurement

Function Documentation

static void imu_filter::tools::perturb_orientation	(	const Eigen::Vector3d &	angular_rate,
		Eigen::Quaterniond &	rotation
	)		`[inline, static]`

helper function to apply an angular rate to a quaternion This function updated a quaternion using an angular rate measure

Parameters:

angular_rate	the angular rate
rotation	the quaternion that will get updated (input and output!)

Definition at line 74 of file imu_tools.h.

static void imu_filter::tools::remove_gravity	(	const Eigen::Quaterniond &	orientation,
		const Eigen::Vector3d &	measured_acc,
		const Eigen::Vector3d &	acc_bias,
		const Eigen::Vector3d &	gravity,
		Eigen::Vector3d &	acc
	)		`[inline, static]`

helper function to remove the gravity component from an accelerometer measurement

Accelerometer measurements always include the gravity. This function is a helper, to retrieve the world acceleration freed from the gravity component

Parameters:

orientation	current orientation of the IMU
measured_acc	measured acceleration
acc_bias	current bias estimate for the accelerometer
gravity	gravity vector

Definition at line 58 of file imu_tools.h.

Functions