#include <complementary_filter.h>

Public Member Functions
	ComplementaryFilter ()
double	getAngularVelocityBiasX () const
double	getAngularVelocityBiasY () const
double	getAngularVelocityBiasZ () const
double	getBiasAlpha () const
bool	getDoAdaptiveGain () const
bool	getDoBiasEstimation () const
double	getGainAcc () const
double	getGainMag () const
void	getOrientation (double &q0, double &q1, double &q2, double &q3) const
bool	getSteadyState () const
bool	setBiasAlpha (double bias_alpha)
void	setDoAdaptiveGain (bool do_adaptive_gain)
void	setDoBiasEstimation (bool do_bias_estimation)
bool	setGainAcc (double gain)
bool	setGainMag (double gain)
void	setOrientation (double q0, double q1, double q2, double q3)
void	update (double ax, double ay, double az, double wx, double wy, double wz, double dt)
void	update (double ax, double ay, double az, double wx, double wy, double wz, double mx, double my, double mz, double dt)
virtual	~ComplementaryFilter ()
Private Member Functions
bool	checkState (double ax, double ay, double az, double wx, double wy, double wz) const
void	getAccCorrection (double ax, double ay, double az, double p0, double p1, double p2, double p3, double &dq0, double &dq1, double &dq2, double &dq3)
double	getAdaptiveGain (double alpha, double ax, double ay, double az)
void	getMagCorrection (double mx, double my, double mz, double p0, double p1, double p2, double p3, double &dq0, double &dq1, double &dq2, double &dq3)
void	getMeasurement (double ax, double ay, double az, double &q0_meas, double &q1_meas, double &q2_meas, double &q3_meas)
void	getMeasurement (double ax, double ay, double az, double mx, double my, double mz, double &q0_meas, double &q1_meas, double &q2_meas, double &q3_meas)
void	getPrediction (double wx, double wy, double wz, double dt, double &q0_pred, double &q1_pred, double &q2_pred, double &q3_pred) const
void	updateBiases (double ax, double ay, double az, double wx, double wy, double wz)
Private Attributes
double	bias_alpha_
bool	do_adaptive_gain_
bool	do_bias_estimation_
double	gain_acc_
double	gain_mag_
bool	initialized_
double	q0_
double	q1_
double	q2_
double	q3_
bool	steady_state_
double	wx_bias_
double	wx_prev_
double	wy_bias_
double	wy_prev_
double	wz_bias_
double	wz_prev_
Static Private Attributes
static const double	gamma_ = 0.01
static const double	kAccelerationThreshold = 0.1
static const double	kAngularVelocityThreshold = 0.2
static const double	kDeltaAngularVelocityThreshold = 0.01
static const double	kGravity = 9.81

Detailed Description

Definition at line 37 of file complementary_filter.h.

Constructor & Destructor Documentation

imu_tools::ComplementaryFilter::ComplementaryFilter ( )

Definition at line 47 of file complementary_filter.cpp.

imu_tools::ComplementaryFilter::~ComplementaryFilter ( ) [virtual]

Definition at line 59 of file complementary_filter.cpp.

Member Function Documentation

bool imu_tools::ComplementaryFilter::checkState	(	double	ax,
		double	ay,
		double	az,
		double	wx,
		double	wy,
		double	wz
	)		const `[private]`

Definition at line 265 of file complementary_filter.cpp.

void imu_tools::ComplementaryFilter::getAccCorrection	(	double	ax,
		double	ay,
		double	az,
		double	p0,
		double	p1,
		double	p2,
		double	p3,
		double &	dq0,
		double &	dq1,
		double &	dq2,
		double &	dq3
	)		`[private]`

Definition at line 402 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getAdaptiveGain	(	double	alpha,
		double	ax,
		double	ay,
		double	az
	)		`[private]`

Definition at line 453 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getAngularVelocityBiasX ( ) const

Definition at line 141 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getAngularVelocityBiasY ( ) const

Definition at line 146 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getAngularVelocityBiasZ ( ) const

Definition at line 151 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getBiasAlpha ( ) const

Definition at line 128 of file complementary_filter.cpp.

bool imu_tools::ComplementaryFilter::getDoAdaptiveGain ( ) const

Definition at line 76 of file complementary_filter.cpp.

bool imu_tools::ComplementaryFilter::getDoBiasEstimation ( ) const

Definition at line 66 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getGainAcc ( ) const

Definition at line 102 of file complementary_filter.cpp.

double imu_tools::ComplementaryFilter::getGainMag ( ) const

Definition at line 107 of file complementary_filter.cpp.

void imu_tools::ComplementaryFilter::getMagCorrection	(	double	mx,
		double	my,
		double	mz,
		double	p0,
		double	p1,
		double	p2,
		double	p3,
		double &	dq0,
		double &	dq1,
		double &	dq2,
		double &	dq3
	)		`[private]`

Definition at line 424 of file complementary_filter.cpp.

void imu_tools::ComplementaryFilter::getMeasurement	(	double	ax,
		double	ay,
		double	az,
		double &	q0_meas,
		double &	q1_meas,
		double &	q2_meas,
		double &	q3_meas
	)		`[private]`

Definition at line 374 of file complementary_filter.cpp.

void imu_tools::ComplementaryFilter::getMeasurement	(	double	ax,
		double	ay,
		double	az,
		double	mx,
		double	my,
		double	mz,
		double &	q0_meas,
		double &	q1_meas,
		double &	q2_meas,
		double &	q3_meas
	)		`[private]`

Definition at line 318 of file complementary_filter.cpp.

void imu_tools::ComplementaryFilter::getOrientation	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)		const

Definition at line 446 of file complementary_filter.cpp.

void imu_tools::ComplementaryFilter::getPrediction	(	double	wx,
		double	wy,
		double	wz,
		double	dt,
		double &	q0_pred,
		double &	q1_pred,
		double &	q2_pred,
		double &	q3_pred
	)		const `[private]`