Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::IMUFilter Class Referenceabstract

#include <IMUFilter.h>

Inheritance diagram for rtabmap::IMUFilter:
Inheritance graph
[legend]

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 IMUFiltercreate (const ParametersMap &parameters=ParametersMap())
 
static IMUFiltercreate (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

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

◆ 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

◆ type()

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

◆ 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

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:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00