Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::MadgwickFilter Class Reference

#include <MadgwickFilter.h>

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

Public Member Functions

virtual void getOrientation (double &qx, double &qy, double &qz, double &qw) const
 
 MadgwickFilter (const ParametersMap &parameters=ParametersMap())
 
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)
 
void setAlgorithmGain (double gain)
 
void setDriftBiasGain (double zeta)
 
virtual IMUFilter::Type type () const
 
virtual ~MadgwickFilter ()
 
- Public Member Functions inherited from rtabmap::IMUFilter
void update (double gx, double gy, double gz, double ax, double ay, double az, double stamp)
 
virtual ~IMUFilter ()
 

Private Member Functions

void updateImpl (double gx, double gy, double gz, double ax, double ay, double az, double dt)
 

Private Attributes

double gain_
 
bool initialized_
 
double q0
 
double q1
 
double q2
 
double q3
 
float w_bx_
 
float w_by_
 
float w_bz_
 
double zeta_
 

Additional Inherited Members

- Public Types inherited from rtabmap::IMUFilter
enum  Type { kMadgwick =0, kComplementaryFilter =1 }
 
- Static Public Member Functions inherited from rtabmap::IMUFilter
static IMUFiltercreate (const ParametersMap &parameters=ParametersMap())
 
static IMUFiltercreate (IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
 
- Protected Member Functions inherited from rtabmap::IMUFilter
 IMUFilter (const ParametersMap &parameters=ParametersMap())
 

Detailed Description

Definition at line 34 of file MadgwickFilter.h.

Constructor & Destructor Documentation

◆ MadgwickFilter()

rtabmap::MadgwickFilter::MadgwickFilter ( const ParametersMap parameters = ParametersMap())

Definition at line 236 of file MadgwickFilter.cpp.

◆ ~MadgwickFilter()

virtual rtabmap::MadgwickFilter::~MadgwickFilter ( )
inlinevirtual

Definition at line 39 of file MadgwickFilter.h.

Member Function Documentation

◆ getOrientation()

void rtabmap::MadgwickFilter::getOrientation ( double &  qx,
double &  qy,
double &  qz,
double &  qw 
) const
virtual

Implements rtabmap::IMUFilter.

Definition at line 270 of file MadgwickFilter.cpp.

◆ parseParameters()

void rtabmap::MadgwickFilter::parseParameters ( const ParametersMap parameters)
virtual

Reimplemented from rtabmap::IMUFilter.

Definition at line 247 of file MadgwickFilter.cpp.

◆ reset()

void rtabmap::MadgwickFilter::reset ( double  qx = 0.0,
double  qy = 0.0,
double  qz = 0.0,
double  qw = 1.0 
)
virtual

Implements rtabmap::IMUFilter.

Definition at line 287 of file MadgwickFilter.cpp.

◆ setAlgorithmGain()

void rtabmap::MadgwickFilter::setAlgorithmGain ( double  gain)

Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal. [0.0, 1.0]

Definition at line 257 of file MadgwickFilter.cpp.

◆ setDriftBiasGain()

void rtabmap::MadgwickFilter::setDriftBiasGain ( double  zeta)

Gyro drift gain (approx. rad/s). [-1.0, 1.0]

Definition at line 265 of file MadgwickFilter.cpp.

◆ type()

virtual IMUFilter::Type rtabmap::MadgwickFilter::type ( ) const
inlinevirtual

Implements rtabmap::IMUFilter.

Definition at line 64 of file MadgwickFilter.h.

◆ updateImpl()

void rtabmap::MadgwickFilter::updateImpl ( double  gx,
double  gy,
double  gz,
double  ax,
double  ay,
double  az,
double  dt 
)
privatevirtual

Implements rtabmap::IMUFilter.

Definition at line 301 of file MadgwickFilter.cpp.

Member Data Documentation

◆ gain_

double rtabmap::MadgwickFilter::gain_
private

Definition at line 48 of file MadgwickFilter.h.

◆ initialized_

bool rtabmap::MadgwickFilter::initialized_
private

Definition at line 45 of file MadgwickFilter.h.

◆ q0

double rtabmap::MadgwickFilter::q0
private

Definition at line 43 of file MadgwickFilter.h.

◆ q1

double rtabmap::MadgwickFilter::q1
private

Definition at line 43 of file MadgwickFilter.h.

◆ q2

double rtabmap::MadgwickFilter::q2
private

Definition at line 43 of file MadgwickFilter.h.

◆ q3

double rtabmap::MadgwickFilter::q3
private

Definition at line 43 of file MadgwickFilter.h.

◆ w_bx_

float rtabmap::MadgwickFilter::w_bx_
private

Definition at line 44 of file MadgwickFilter.h.

◆ w_by_

float rtabmap::MadgwickFilter::w_by_
private

Definition at line 44 of file MadgwickFilter.h.

◆ w_bz_

float rtabmap::MadgwickFilter::w_bz_
private

Definition at line 44 of file MadgwickFilter.h.

◆ zeta_

double rtabmap::MadgwickFilter::zeta_
private

Definition at line 49 of file MadgwickFilter.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