ImFusion::Madgwick Class Reference

#include <ImFusion/Base/IMUPoseIntegration.h>

Madgwick sensor fusion. More...

Inheritance diagram for ImFusion::Madgwick:

Detailed Description

Madgwick sensor fusion.

Adapted from https://github.com/PaulStoffregen/MadgwickAHRS

Public Member Functions
void	setBeta (double val)
	Explicit parameter override, use with care.
void	setDescentsPerStep (int val)
	Define descents per step.
void	setBetaFromGyroError (double gyroSigmaInDegreesPerSec)
	Conversion as used in the original paper: http://x-io.co.uk/res/doc/madgwick_internal_report.pdf.
void	update (const vec3 &angularVelocityDegPerSec, const vec3 &linAcc, const vec3 &mag, double timestampSeconds) override
	Propagates the physical state using a new measurement.
Eigen::Quaterniond	orientationQuaternion () const override
	Returns the orientation of the most recent state.
vec3	position () const override
	Returns the position in world coords.
void	reset () override
	Restores the initial state.

Member Function Documentation

update()

void ImFusion::Madgwick::update ( const vec3 & angularVelocityDegPerSec, const vec3 & linAcc, const vec3 & mag, double timestampSeconds )

overridevirtual

Propagates the physical state using a new measurement.

Implements ImFusion::LiveSensorFusion.

orientationQuaternion()

Eigen::Quaterniond ImFusion::Madgwick::orientationQuaternion ( ) const

overridevirtual

Returns the orientation of the most recent state.

Implements ImFusion::LiveSensorFusion.

position()

vec3 ImFusion::Madgwick::position ( ) const

overridevirtual

Returns the position in world coords.

Implements ImFusion::LiveSensorFusion.

reset()

void ImFusion::Madgwick::reset ( )

overridevirtual

Restores the initial state.

Implements ImFusion::LiveSensorFusion.

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

• ImFusion/Base/IMUPoseIntegration.h