dynamicgraph::sot::MadgwickAHRS Class Reference

#include <sot/core/madgwickahrs.hh>

Inheritance diagram for dynamicgraph::sot::MadgwickAHRS:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MadgwickAHRS (const std::string &name)
void	init (const double &dt)
void	set_beta (const double &beta)
void	set_imu_quat (const dynamicgraph::Vector &imu_quat)
	Set the quaternion as [w,x,y,z]. More...
	DECLARE_SIGNAL_IN (accelerometer, dynamicgraph::Vector)
	ax ay az in m.s-2 More...
	DECLARE_SIGNAL_IN (gyroscope, dynamicgraph::Vector)
	gx gy gz in rad.s-1 More...
	DECLARE_SIGNAL_OUT (imu_quat, dynamicgraph::Vector)
	Estimated orientation of IMU as a quaternion. More...

Protected Member Functions
virtual void	display (std::ostream &os) const
double	invSqrt (double x)
void	madgwickAHRSupdateIMU (double gx, double gy, double gz, double ax, double ay, double az)

Protected Attributes
bool	m_initSucceeded
	true if the entity has been successfully initialized More...
double	m_beta
	2 * proportional gain (Kp) More...
double	m_q0
	quaternion of sensor frame More...
double	m_q1
double	m_q2
double	m_q3
double	m_sampleFreq
	sample frequency in Hz More...

Constructor & Destructor Documentation

MadgwickAHRS()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::MadgwickAHRS::MadgwickAHRS

(

const std::string &

name

)

Member Function Documentation

DECLARE_SIGNAL_IN() [1/2]

dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_IN	(	accelerometer	,
		dynamicgraph::Vector
	)

ax ay az in m.s-2

DECLARE_SIGNAL_IN() [2/2]

dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_IN	(	gyroscope	,
		dynamicgraph::Vector
	)

gx gy gz in rad.s-1

DECLARE_SIGNAL_OUT()

dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_OUT	(	imu_quat	,
		dynamicgraph::Vector
	)

Estimated orientation of IMU as a quaternion.

display()

virtual void dynamicgraph::sot::MadgwickAHRS::display ( std::ostream &  os ) const

protectedvirtual

init()

void dynamicgraph::sot::MadgwickAHRS::init

(

const double &

dt

)

invSqrt()

double dynamicgraph::sot::MadgwickAHRS::invSqrt ( double  x )

protected

madgwickAHRSupdateIMU()

void dynamicgraph::sot::MadgwickAHRS::madgwickAHRSupdateIMU ( double  gx, double  gy, double  gz, double  ax, double  ay, double  az  )

protected

set_beta()

void dynamicgraph::sot::MadgwickAHRS::set_beta

(

const double &

beta

)

set_imu_quat()

void dynamicgraph::sot::MadgwickAHRS::set_imu_quat

(

const dynamicgraph::Vector &

imu_quat

)

Set the quaternion as [w,x,y,z].

Member Data Documentation

m_beta

double dynamicgraph::sot::MadgwickAHRS::m_beta

protected

2 * proportional gain (Kp)

m_initSucceeded

bool dynamicgraph::sot::MadgwickAHRS::m_initSucceeded

protected

true if the entity has been successfully initialized

m_q0

double dynamicgraph::sot::MadgwickAHRS::m_q0

protected

quaternion of sensor frame

m_q1

double dynamicgraph::sot::MadgwickAHRS::m_q1

protected

m_q2

double dynamicgraph::sot::MadgwickAHRS::m_q2

protected

m_q3

double dynamicgraph::sot::MadgwickAHRS::m_q3

protected

m_sampleFreq

double dynamicgraph::sot::MadgwickAHRS::m_sampleFreq

protected

sample frequency in Hz

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

• include/sot/core/madgwickahrs.hh