ImFusion::PureGyro Class Reference

#include <ImFusion/Base/IMUPoseIntegration.h>

Basic sensor fusion. More...

Inheritance diagram for ImFusion::PureGyro:

Detailed Description

Basic sensor fusion.

Basic version, plain integration of the gyro without any magnetometer information. Requires a recently zeroed in gyro, or will run away rather quickly

Public Member Functions
void	update (const vec3 &angularVelocityDegPerSec, const vec3 &linAcc, const vec3 &mag, double timestampSeconds) override
	Propagates the physical state using a new measurement. Ignores mag.
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::PureGyro::update ( const vec3 & angularVelocityDegPerSec, const vec3 & linAcc, const vec3 & mag, double timestampSeconds )

overridevirtual

Propagates the physical state using a new measurement. Ignores mag.

Implements ImFusion::LiveSensorFusion.

orientationQuaternion()

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

overridevirtual

Returns the orientation of the most recent state.

Implements ImFusion::LiveSensorFusion.

position()

vec3 ImFusion::PureGyro::position ( ) const

overridevirtual

Returns the position in world coords.

Implements ImFusion::LiveSensorFusion.

reset()

void ImFusion::PureGyro::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