m_imu_pre.h File Reference

IMU pre filter struct. More...

#include "xrt/xrt_defines.h"

Include dependency graph for m_imu_pre.h:

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Data Structures
struct	m_imu_pre_filter_part
	This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per floats. More...
struct	m_imu_pre_filter
	This is a common IMU pre-filter which takes raw 'ticks' from an IMU measurement and converts it into floats representing radians per second and meters per second^2 floats. More...

Functions
void	m_imu_pre_filter_init (struct m_imu_pre_filter *imu, float ticks_to_float_accel, float ticks_to_float_gyro)
	A simple init function that takes the two ticks_to_float values, all other values are set to identity. More...
void	m_imu_pre_filter_set_switch_x_and_y (struct m_imu_pre_filter *imu)
	Sets the transformation to flip X and Y axis. More...
void	m_imu_pre_filter_data (struct m_imu_pre_filter *imu, const struct xrt_vec3_i32 *accel, const struct xrt_vec3_i32 *gyro, struct xrt_vec3 *out_accel, struct xrt_vec3 *out_gyro)
	Pre-filters the values, taking them from ticks into float values. More...

Detailed Description

IMU pre filter struct.

Author

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

Function Documentation

m_imu_pre_filter_data()

void m_imu_pre_filter_data	(	struct m_imu_pre_filter *	imu,
		const struct xrt_vec3_i32 *	accel,
		const struct xrt_vec3_i32 *	gyro,
		struct xrt_vec3 *	out_accel,
		struct xrt_vec3 *	out_gyro
	)

Pre-filters the values, taking them from ticks into float values.

See description of m_imu_pre_filter_part for formula used. Also rotates values with the imu_to_head pose.

m_imu_pre_filter_init()

void m_imu_pre_filter_init	(	struct m_imu_pre_filter *	imu,
		float	ticks_to_float_accel,
		float	ticks_to_float_gyro
	)

A simple init function that takes the two ticks_to_float values, all other values are set to identity.

m_imu_pre_filter_set_switch_x_and_y()

void m_imu_pre_filter_set_switch_x_and_y

(

struct m_imu_pre_filter *

imu

)

Sets the transformation to flip X and Y axis.

This changes the handedness of the coordinates.