imu_filter_madgwick: stateless_orientation.h Source File

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00001 /*
00002  *  Copyright (C) 2010, CCNY Robotics Lab
00003  *  Ivan Dryanovski <ivan.dryanovski@gmail.com>
00004  *
00005  *  http://robotics.ccny.cuny.edu
00006  *
00007  *  Based on implementation of Madgwick's IMU and AHRS algorithms.
00008  *  http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
00009  *
00010  *
00011  *  This program is free software: you can redistribute it and/or modify
00012  *  it under the terms of the GNU General Public License as published by
00013  *  the Free Software Foundation, either version 3 of the License, or
00014  *  (at your option) any later version.
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU General Public License for more details.
00020  *
00021  *  You should have received a copy of the GNU General Public License
00022  *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
00023  */
00024 
00025 #ifndef IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H
00026 #define IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H
00027 
00028 #include <geometry_msgs/Vector3.h>
00029 #include <geometry_msgs/Quaternion.h>
00030 #include <imu_filter_madgwick/world_frame.h>
00031 
00032 class StatelessOrientation
00033 {
00034 public:
00035   static bool computeOrientation(
00036     WorldFrame::WorldFrame frame,
00037     geometry_msgs::Vector3 acceleration,
00038     geometry_msgs::Vector3 magneticField,
00039     geometry_msgs::Quaternion& orientation);
00040 
00041   static bool computeOrientation(
00042     WorldFrame::WorldFrame frame,
00043     geometry_msgs::Vector3 acceleration,
00044     geometry_msgs::Quaternion& orientation);
00045 
00046 };
00047 
00048 #endif // IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H