m_filter_euro_quat Struct Reference

One Euro filter for a unit quaternion (used as 3D rotation). More...

#include <math/m_filter_one_euro.h>

Collaboration diagram for m_filter_euro_quat:

Public Member Functions
void	m_filter_euro_quat_init (struct m_filter_euro_quat *f, double fc_min, double fc_min_d, double beta)
	Initialize a unit quaternion (3D rotation) filter. More...
void	m_filter_euro_quat_run (struct m_filter_euro_quat *f, uint64_t ts, const struct xrt_quat *in_y, struct xrt_quat *out_y)
	Filter a measurement and commit changes to filter state. More...

Data Fields
struct m_filter_one_euro_base	base
	Base/common data. More...
struct xrt_quat	prev_y
	The most recent measurement, after filtering. More...
struct xrt_quat	prev_dy
	The most recent sample derivative, after filtering. More...

Detailed Description

One Euro filter for a unit quaternion (used as 3D rotation).

Member Function Documentation

m_filter_euro_quat_init()

void m_filter_euro_quat_init	(	struct m_filter_euro_quat *	f,
		double	fc_min,
		double	fc_min_d,
		double	beta
	)

Initialize a unit quaternion (3D rotation) filter.

Parameters

f	self pointer
fc_min	Minimum frequency cutoff for filter
fc_min_d	Minimum frequency cutoff for derivative filter
beta	Beta value for "responsiveness" of filter

m_filter_euro_quat_run()

void m_filter_euro_quat_run	(	struct m_filter_euro_quat *	f,
		uint64_t	ts,
		const struct xrt_quat *	in_y,
		struct xrt_quat *	out_y
	)

Filter a measurement and commit changes to filter state.

Parameters

[in,out]	f	self pointer
	ts	measurement timestamp
	in_y	raw measurement
[out]	out_y	filtered measurement

References base, filter_one_euro_compute_alpha_d(), filter_one_euro_handle_first_sample(), xrt_quat::math_quat_ln(), xrt_quat::math_quat_unrotate(), prev_dy, prev_y, and xrt_quat::XRT_QUAT_IDENTITY.

Field Documentation

base

struct m_filter_one_euro_base m_filter_euro_quat::base

Base/common data.

Referenced by m_filter_euro_quat_run().

prev_dy

struct xrt_quat m_filter_euro_quat::prev_dy

The most recent sample derivative, after filtering.

Referenced by m_filter_euro_quat_run().

prev_y

struct xrt_quat m_filter_euro_quat::prev_y

The most recent measurement, after filtering.

Referenced by m_filter_euro_quat_run().

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The documentation for this struct was generated from the following file:

• auxiliary/math/m_filter_one_euro.h