rtabmap::MadgwickFilter Class Reference

#include <MadgwickFilter.h>

Inheritance diagram for rtabmap::MadgwickFilter:

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 IMUFilter *	create (const ParametersMap &parameters=ParametersMap())
static IMUFilter *	create (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

rtabmap::MadgwickFilter::MadgwickFilter

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 236 of file MadgwickFilter.cpp.

virtual rtabmap::MadgwickFilter::~MadgwickFilter ( )

inlinevirtual

Definition at line 39 of file MadgwickFilter.h.

Member Function Documentation

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.

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

virtual

Reimplemented from rtabmap::IMUFilter.

Definition at line 247 of file MadgwickFilter.cpp.

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.

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.

void rtabmap::MadgwickFilter::setDriftBiasGain

(

double

zeta

)

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

Definition at line 265 of file MadgwickFilter.cpp.

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

inlinevirtual

Implements rtabmap::IMUFilter.

Definition at line 64 of file MadgwickFilter.h.

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

double rtabmap::MadgwickFilter::gain_

private

Definition at line 48 of file MadgwickFilter.h.

bool rtabmap::MadgwickFilter::initialized_

private

Definition at line 45 of file MadgwickFilter.h.

double rtabmap::MadgwickFilter::q0

private

Definition at line 43 of file MadgwickFilter.h.

double rtabmap::MadgwickFilter::q1

private

Definition at line 43 of file MadgwickFilter.h.

double rtabmap::MadgwickFilter::q2

private

Definition at line 43 of file MadgwickFilter.h.

double rtabmap::MadgwickFilter::q3

private

Definition at line 43 of file MadgwickFilter.h.

float rtabmap::MadgwickFilter::w_bx_

private

Definition at line 44 of file MadgwickFilter.h.

float rtabmap::MadgwickFilter::w_by_

private

Definition at line 44 of file MadgwickFilter.h.

float rtabmap::MadgwickFilter::w_bz_

private

Definition at line 44 of file MadgwickFilter.h.

double rtabmap::MadgwickFilter::zeta_

private

Definition at line 49 of file MadgwickFilter.h.

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

• MadgwickFilter.h
• MadgwickFilter.cpp