IMUFilter.h
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1 /*
2 Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_
29 #define CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_
30 
32 #include <Eigen/Geometry>
33 
34 namespace rtabmap {
35 
36 class IMUFilter
37 {
38 public:
39  enum Type {
42 public:
43  static IMUFilter * create(const ParametersMap & parameters = ParametersMap());
44  static IMUFilter * create(IMUFilter::Type type, const ParametersMap & parameters = ParametersMap());
45 
46 public:
47  virtual void parseParameters(const ParametersMap & parameters) {}
48  virtual ~IMUFilter(){}
49 
50  void update(
51  double gx, double gy, double gz,
52  double ax, double ay, double az,
53  double stamp);
54 
55  virtual IMUFilter::Type type() const = 0;
56  virtual void getOrientation(double & qx, double & qy, double & qz, double & qw) const = 0;
57  virtual void reset(double qx = 0.0, double qy = 0.0, double qz = 0.0, double qw = 1.0) = 0;
58 
59 protected:
60  IMUFilter(const ParametersMap & parameters = ParametersMap()) : previousStamp_(0) {}
61 
62 private:
63  // Update from accelerometer and gyroscope data.
64  // [gx, gy, gz]: Angular veloctiy, in rad / s.
65  // [ax, ay, az]: Normalized gravity vector.
66  // dt: time delta, in seconds.
67  virtual void updateImpl(
68  double gx, double gy, double gz,
69  double ax, double ay, double az,
70  double dt) = 0;
71 
72 private:
74 };
75 
76 }
77 
78 
79 #endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */
virtual ~IMUFilter()
Definition: IMUFilter.h:48
double previousStamp_
Definition: IMUFilter.h:73
static IMUFilter * create(const ParametersMap &parameters=ParametersMap())
Definition: IMUFilter.cpp:38
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
IMUFilter(const ParametersMap &parameters=ParametersMap())
Definition: IMUFilter.h:60
void update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)
Definition: IMUFilter.cpp:72
virtual void reset(double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0
virtual IMUFilter::Type type() const =0
virtual void updateImpl(double gx, double gy, double gz, double ax, double ay, double az, double dt)=0
virtual void parseParameters(const ParametersMap &parameters)
Definition: IMUFilter.h:47
virtual void getOrientation(double &qx, double &qy, double &qz, double &qw) const =0


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:28