m_imu_3dof.h File Reference

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

#include "xrt/xrt_defines.h"

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Data Structures
struct	m_imu_3dof

Macros
#define	M_IMU_3DOF_USE_GRAVITY_DUR_300MS   (1 << 0)
#define	M_IMU_3DOF_USE_GRAVITY_DUR_20MS   (1 << 1)

Enumerations
enum	m_imu_3dof_state { M_IMU_3DOF_STATE_START = 0 , M_IMU_3DOF_STATE_RUNNING = 1 }

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)
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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References m_imu_3dof::accel, m_imu_3dof::gyro, m_ff_vec3_f32_push(), xrt_quat::math_quat_from_angle_vector(), xrt_quat::math_quat_normalize(), xrt_quat::math_quat_rotate(), and m_imu_3dof::rot.