32 #ifndef IMU_TOOLS_COMPLEMENTARY_FILTER_H 33 #define IMU_TOOLS_COMPLEMENTARY_FILTER_H 71 void getOrientation(
double& q0,
double& q1,
double& q2,
double& q3)
const;
77 void update(
double ax,
double ay,
double az,
78 double wx,
double wy,
double wz,
86 void update(
double ax,
double ay,
double az,
87 double wx,
double wy,
double wz,
88 double mx,
double my,
double mz,
126 double wx,
double wy,
double wz);
128 bool checkState(
double ax,
double ay,
double az,
129 double wx,
double wy,
double wz)
const;
132 double wx,
double wy,
double wz,
double dt,
133 double& q0_pred,
double& q1_pred,
double& q2_pred,
double& q3_pred)
const;
136 double ax,
double ay,
double az,
137 double& q0_meas,
double& q1_meas,
double& q2_meas,
double& q3_meas);
140 double ax,
double ay,
double az,
141 double mx,
double my,
double mz,
142 double& q0_meas,
double& q1_meas,
double& q2_meas,
double& q3_meas);
145 double ax,
double ay,
double az,
146 double p0,
double p1,
double p2,
double p3,
147 double& dq0,
double& dq1,
double& dq2,
double& dq3);
150 double mx,
double my,
double mz,
151 double p0,
double p1,
double p2,
double p3,
152 double& dq0,
double& dq1,
double& dq2,
double& dq3);
164 double& dq0,
double& dq1,
double& dq2,
double& dq3);
167 double q0,
double q1,
double q2,
double q3,
168 double& q0_inv,
double& q1_inv,
double& q2_inv,
double& q3_inv);
171 double q0,
double q1,
double q2,
double q3,
172 double& r0,
double& r1,
double& r2,
double& r3);
175 double q0,
double q1,
double q2,
double q3,
176 double& vx,
double& vy,
double& vz);
180 #endif // IMU_TOOLS_COMPLEMENTARY_FILTER_H