m_imu_3dof.c File Reference

A IMU fusion specially made for 3dof devices. More...

#include "util/u_misc.h"
#include "util/u_var.h"
#include "math/m_api.h"
#include "math/m_filter_fifo.h"
#include "math/m_imu_3dof.h"
#include "math/m_vec3.h"
#include "math/m_mathinclude.h"
#include <stdio.h>
#include <assert.h>

Include dependency graph for m_imu_3dof.c:

Macros
#define	DUR_1S_IN_NS   (1000 * 1000 * 1000)
#define	DUR_300MS_IN_NS   (300 * 1000 * 1000)
#define	DUR_20MS_IN_NS   (20 * 1000 * 1000)

Functions
void	m_imu_3dof_init (struct m_imu_3dof *f, int flags)
void	m_imu_3dof_reset (struct m_imu_3dof *f)
void	m_imu_3dof_close (struct m_imu_3dof *f)
void	m_imu_3dof_add_vars (struct m_imu_3dof *f, void *root, const char *prefix)
static void	gravity_correction (struct m_imu_3dof *f, uint64_t timestamp_ns, const struct xrt_vec3 *accel, const struct xrt_vec3 *gyro, double dt, float gyro_length)
static void	gyro_biasing (struct m_imu_3dof *f, uint64_t timestamp_ns)
void	m_imu_3dof_update (struct m_imu_3dof *f, uint64_t timestamp_ns, const struct xrt_vec3 *accel, const struct xrt_vec3 *gyro)

Detailed Description

A IMU fusion specially made for 3dof devices.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

m_imu_3dof_update()

void m_imu_3dof_update	(	struct m_imu_3dof *	f,
		uint64_t	timestamp_ns,
		const struct xrt_vec3 *	accel,
		const struct xrt_vec3 *	gyro
	)

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