ImuFilter Class Reference

#include <imu_filter.h>

List of all members.

Public Member Functions
void	getOrientation (double &q0, double &q1, double &q2, double &q3)
	ImuFilter ()
void	madgwickAHRSupdate (float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float dt)
void	madgwickAHRSupdateIMU (float gx, float gy, float gz, float ax, float ay, float az, float dt)
void	setAlgorithmGain (double gain)
void	setDriftBiasGain (double zeta)
void	setOrientation (double q0, double q1, double q2, double q3)
virtual	~ImuFilter ()
Static Private Member Functions
static float	invSqrt (float x)
Private Attributes
double	gain_
double	q0
double	q1
double	q2
double	q3
float	w_bx_
float	w_by_
float	w_bz_
double	zeta_

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Detailed Description

Definition at line 28 of file imu_filter.h.

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Constructor & Destructor Documentation

ImuFilter::ImuFilter

(

)

Definition at line 28 of file imu_filter.cpp.

ImuFilter::~ImuFilter

(

)

[virtual]

Definition at line 35 of file imu_filter.cpp.

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Member Function Documentation

void ImuFilter::getOrientation	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)		[inline]

Definition at line 74 of file imu_filter.h.

static float ImuFilter::invSqrt

(

float

x

)

[inline, static, private]

Definition at line 48 of file imu_filter.h.

void ImuFilter::madgwickAHRSupdate	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	mx,
		float	my,
		float	mz,
		float	dt
	)

Definition at line 39 of file imu_filter.cpp.

void ImuFilter::madgwickAHRSupdateIMU	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	dt
	)

Definition at line 161 of file imu_filter.cpp.

void ImuFilter::setAlgorithmGain

(

double

gain

)

[inline]

Definition at line 64 of file imu_filter.h.

void ImuFilter::setDriftBiasGain

(

double

zeta

)

[inline]

Definition at line 69 of file imu_filter.h.

void ImuFilter::setOrientation	(	double	q0,
		double	q1,
		double	q2,
		double	q3
	)		[inline]

Definition at line 82 of file imu_filter.h.

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Member Data Documentation

double ImuFilter::gain_ [private]

Definition at line 37 of file imu_filter.h.

double ImuFilter::q0 [private]

Definition at line 41 of file imu_filter.h.

double ImuFilter::q1 [private]

Definition at line 41 of file imu_filter.h.

double ImuFilter::q2 [private]

Definition at line 41 of file imu_filter.h.

double ImuFilter::q3 [private]

Definition at line 41 of file imu_filter.h.

float ImuFilter::w_bx_ [private]

Definition at line 42 of file imu_filter.h.

float ImuFilter::w_by_ [private]

Definition at line 42 of file imu_filter.h.

float ImuFilter::w_bz_ [private]

Definition at line 42 of file imu_filter.h.

double ImuFilter::zeta_ [private]

Definition at line 38 of file imu_filter.h.

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The documentation for this class was generated from the following files:

• imu_filter.h
• imu_filter.cpp