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//======================================================================== |
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// |
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// Implementation of Madgwick's IMU and AHRS algorithms. |
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// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms |
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// |
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// Date Author Notes |
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// 29/09/2011 SOH Madgwick Initial release |
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// 02/10/2011 SOH Madgwick Optimised for reduced CPU load |
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// 11/05/2017 T Flayols Make it a dynamic graph entity |
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// 26/03/2019 G Buondonno Converted to double |
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// |
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//======================================================================== |
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/* |
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* Copyright 2017, Thomas Flayols, LAAS-CNRS |
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* |
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* This file is part of sot-torque-control. |
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* sot-torque-control is free software: you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation, either version 3 of |
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* the License, or (at your option) any later version. |
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* sot-torque-control is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. You should |
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* have received a copy of the GNU Lesser General Public License along |
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* with sot-torque-control. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#ifndef __sot_torque_control_madgwickahrs_H__ |
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#define __sot_torque_control_madgwickahrs_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(madgwickahrs_EXPORTS) |
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#define SOTMADGWICKAHRS_EXPORT __declspec(dllexport) |
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#else |
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#define SOTMADGWICKAHRS_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTMADGWICKAHRS_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#include <dynamic-graph/signal-helper.h> |
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#include <map> |
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#include <sot/core/matrix-geometry.hh> |
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#include "boost/assign.hpp" |
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#define betaDef 0.01 // 2 * proportional g |
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namespace dynamicgraph { |
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namespace sot { |
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/** \addtogroup Filters |
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\section subsec_madgwickahrs MadgwickAHRS filter |
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\class MadgwickARHS |
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This class implements the MadgwickAHRS filter as described |
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in http://x-io.co.uk/res/doc/madgwick_internal_report.pdf |
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This method uses a gradient descent approach to compute the orientation |
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from an IMU. |
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The signals input are: |
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<ul> |
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<li>m_accelerometerSIN: \f$[a_x, a_y, a_z]^T\f$ in \f$m.s^{-2}\f$</li> |
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<li>m_gyroscopeSIN: \f$[g_x, g_y, g_z]^T\f$ in \f$rad.s^{-1}\f$</li> |
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<li>m_imu_quatSOUT: \f$[q_0, q_1, q_2, q_3]^T\f$ </li> estimated rotation |
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as a quaternion</li> |
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</ul> |
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The internal parameters are: |
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<ul> |
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<li>\f$Beta\f$: Gradient step weight (default to 0.01) </li> |
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<li>\f$m_sampleFref\f$: Sampling Frequency computed from the control |
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period when using init.</li> |
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</ul> |
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*/ |
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class SOTMADGWICKAHRS_EXPORT MadgwickAHRS : public ::dynamicgraph::Entity { |
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typedef MadgwickAHRS EntityClassName; |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/* --- CONSTRUCTOR ---- */ |
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MadgwickAHRS(const std::string &name); |
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void init(const double &dt); |
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void set_beta(const double &beta); |
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/// Set the quaternion as [w,x,y,z] |
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void set_imu_quat(const dynamicgraph::Vector &imu_quat); |
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/* --- SIGNALS --- */ |
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/// ax ay az in m.s-2 |
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DECLARE_SIGNAL_IN(accelerometer, dynamicgraph::Vector); |
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/// gx gy gz in rad.s-1 |
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DECLARE_SIGNAL_IN(gyroscope, dynamicgraph::Vector); |
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/// Estimated orientation of IMU as a quaternion |
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DECLARE_SIGNAL_OUT(imu_quat, dynamicgraph::Vector); |
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protected: |
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/* --- COMMANDS --- */ |
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/* --- ENTITY INHERITANCE --- */ |
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virtual void display(std::ostream &os) const; |
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/* --- METHODS --- */ |
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double invSqrt(double x); |
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void madgwickAHRSupdateIMU(double gx, double gy, double gz, double ax, |
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double ay, double az); |
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protected: |
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/// true if the entity has been successfully initialized |
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bool m_initSucceeded; |
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/// 2 * proportional gain (Kp) |
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double m_beta; |
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/// quaternion of sensor frame |
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double m_q0, m_q1, m_q2, m_q3; |
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/// sample frequency in Hz |
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double m_sampleFreq; |
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}; // class MadgwickAHRS |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __sot_torque_control_madgwickahrs_H__ |