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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_IMU_FILTER_H
#define IMU_FILTER_MADWICK_IMU_FILTER_H
#include <imu_filter_madgwick/world_frame.h>
#include <iostream>
#include <cmath>
class ImuFilter
{
public:
ImuFilter();
virtual ~ImuFilter();
private:
// **** paramaters
double gain_; // algorithm gain
double zeta_; // gyro drift bias gain
WorldFrame::WorldFrame world_frame_; // NWU, ENU, NED
// **** state variables
double q0, q1, q2, q3; // quaternion
float w_bx_, w_by_, w_bz_; //
public:
void setAlgorithmGain(double gain)
{
gain_ = gain;
}
void setDriftBiasGain(double zeta)
{
zeta_ = zeta;
}
void setWorldFrame(WorldFrame::WorldFrame frame)
{
world_frame_ = frame;
}
void getOrientation(double& q0, double& q1, double& q2, double& q3)
{
q0 = this->q0;
q1 = this->q1;
q2 = this->q2;
q3 = this->q3;
// perform precise normalization of the output, using 1/sqrt()
// instead of the fast invSqrt() approximation. Without this,
// TF2 complains that the quaternion is not normalized.
double recipNorm = 1 / sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
q0 *= recipNorm;
q1 *= recipNorm;
q2 *= recipNorm;
q3 *= recipNorm;
}
void setOrientation(double q0, double q1, double q2, double q3)
{
this->q0 = q0;
this->q1 = q1;
this->q2 = q2;
this->q3 = q3;
w_bx_ = 0;
w_by_ = 0;
w_bz_ = 0;
}
void madgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay,
float az, float mx, float my, float mz, float dt);
void madgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay,
float az, float dt);
void getGravity(float& rx, float& ry, float& rz, float gravity = 9.80665);
};
#endif // IMU_FILTER_MADWICK_IMU_FILTER_H