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imu_fusion Struct Reference
Collaboration diagram for imu_fusion:
Public Member Functions | |
| struct imu_fusion * | imu_fusion_create (void) |
| Create a struct imu_fusion. | |
| void | imu_fusion_destroy (struct imu_fusion *fusion) |
| Destroy a struct imu_fusion. | |
| int | imu_fusion_incorporate_gyros (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *ang_vel, struct xrt_vec3 const *ang_vel_variance) |
| Predict and correct fusion with a gyroscope reading. | |
| int | imu_fusion_incorporate_accelerometer (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *accel, struct xrt_vec3 const *accel_variance, struct xrt_vec3 *out_world_accel) |
| Predict and correct fusion with an accelerometer reading. | |
| int | imu_fusion_incorporate_gyros_and_accelerometer (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *ang_vel, struct xrt_vec3 const *ang_vel_variance, struct xrt_vec3 const *accel, struct xrt_vec3 const *accel_variance, struct xrt_vec3 *out_world_accel) |
| Predict and correct fusion with a simultaneous accelerometer and gyroscope reading. | |
| int | imu_fusion_get_prediction (struct imu_fusion const *fusion, uint64_t timestamp_ns, struct xrt_quat *out_quat, struct xrt_vec3 *out_ang_vel) |
| Get the predicted state. | |
| int | imu_fusion_get_prediction_rotation_vec (struct imu_fusion const *fusion, uint64_t timestamp_ns, struct xrt_vec3 *out_rotation_vec) |
| Get the predicted state as a rotation vector. | |
Data Fields | |
| uint64_t | time_ns {0} |
| SimpleIMUFusion | simple_fusion |
The documentation for this struct was generated from the following files:
