LiveSensorFusion Class Reference

#include <ImFusion/Base/IMUPoseIntegration.h>

Abstract base class for 9DOF sensor fusion algorithms. More...

Inheritance diagram for LiveSensorFusion:

Detailed Description

Abstract base class for 9DOF sensor fusion algorithms.

Note

As usual, thread safety is responsibility of the caller

Public Member Functions
virtual void	update (const vec3 &angularVelocityDegPerSec, const vec3 &linAcc, const vec3 &mag, double timestampSeconds)=0
	Propagates the physical state using a new measurement.
virtual Eigen::Quaterniond	orientationQuaternion () const =0
	Returns the orientation of the most recent state.
virtual vec3	position () const =0
	Returns the position in world coords.
virtual void	reset ()=0
	Restores the initial state, which is at rest in the origin and oriented according to Eigen defaults.

Member Function Documentation

update()

virtual void update ( const vec3 & angularVelocityDegPerSec, const vec3 & linAcc, const vec3 & mag, double timestampSeconds )

pure virtual

Propagates the physical state using a new measurement.

Implemented in Madgwick, Mahony, and PureGyro.

orientationQuaternion()

virtual Eigen::Quaterniond orientationQuaternion ( ) const

pure virtual

Returns the orientation of the most recent state.

Implemented in Madgwick, Mahony, and PureGyro.

position()

virtual vec3 position ( ) const

pure virtual

Returns the position in world coords.

Implemented in Madgwick, Mahony, and PureGyro.

reset()

virtual void reset ( )

pure virtual

Restores the initial state, which is at rest in the origin and oriented according to Eigen defaults.

Implemented in Madgwick, Mahony, and PureGyro.

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

• ImFusion/Base/IMUPoseIntegration.h