Program Listing for File stateless_orientation.h
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/*
* Copyright (C) 2010, CCNY Robotics Lab
* Ivan Dryanovski <ivan.dryanovski@gmail.com>
*
* http://robotics.ccny.cuny.edu
*
* Based on implementation of Madgwick's IMU and AHRS algorithms.
* http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
*
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H
#define IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H
#include <geometry_msgs/msg/vector3.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <imu_filter_madgwick/world_frame.h>
class StatelessOrientation
{
public:
static bool computeOrientation(WorldFrame::WorldFrame frame,
geometry_msgs::msg::Vector3 acceleration,
geometry_msgs::msg::Vector3 magneticField,
geometry_msgs::msg::Quaternion& orientation);
static bool computeOrientation(WorldFrame::WorldFrame frame,
geometry_msgs::msg::Vector3 acceleration,
geometry_msgs::msg::Quaternion& orientation);
};
#endif // IMU_FILTER_MADWICK_STATELESS_ORIENTATION_H