Mahony Class Reference

#include <ImFusion/Base/IMUPoseIntegration.h>

Mahony sensor fusion. More...

Inheritance diagram for Mahony:

Detailed Description

Mahony sensor fusion.

Based on https://github.com/PaulStoffregen/MahonyAHRS. Converges slightly faster than Madgwick, but supposed to be less accurate. See https://en.wikipedia.org/wiki/PID_controller for the configuration constants

Public Member Functions
void	reset () override
	Restores the initial state.
Eigen::Quaterniond	orientationQuaternion () const override
	Returns the orientation of the most recent state.
vec3	position () const override
	Returns the position in world coords.
void	update (const vec3 &angularVelocityDegPerSec, const vec3 &linAcc, const vec3 &mag, double timestampSeconds) override
	Propagates the physical state using a new measurement.
void	update (double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double timestamp)
	Propagates the physical state using a new measurement.
void	updateIMU (double gx, double gy, double gz, double ax, double ay, double az, double timestamp)
	Propagates the physical state using a new measurement without magnetic information.

Member Function Documentation

reset()

void reset ( )

overridevirtual

Restores the initial state.

Implements LiveSensorFusion.

orientationQuaternion()

Eigen::Quaterniond orientationQuaternion ( ) const

overridevirtual

Returns the orientation of the most recent state.

Implements LiveSensorFusion.

position()

vec3 position ( ) const

overridevirtual

Returns the position in world coords.

Implements LiveSensorFusion.

update()

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

overridevirtual

Propagates the physical state using a new measurement.

Implements LiveSensorFusion.

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

• ImFusion/Base/IMUPoseIntegration.h