#include <tracking/t_imu_fusion.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SimpleIMUFusion (double gravity_rate=0.9)

bool	valid () const noexcept

Eigen::Quaterniond	getQuat () const
	Get the current state orientation. More...

Eigen::Vector3d	getRotationVec () const
	Get the current state orientation as a rotation vector. More...

Eigen::Matrix3d	getRotationMatrix () const
	Get the current state orientation as a rotation matrix. More...

Eigen::Quaterniond	getPredictedQuat (timepoint_ns timestamp) const
	Get the predicted orientation at some point in the future. More...

Eigen::Vector3d const &	getAngVel () const
	Get the angular velocity in body space. More...

bool	handleGyro (Eigen::Vector3d const &gyro, timepoint_ns timestamp)
	Process a gyroscope report. More...

bool	handleAccel (Eigen::Vector3d const &accel, timepoint_ns timestamp)
	Process an accelerometer report. More...

Eigen::Vector3d	getCorrectedWorldAccel (Eigen::Vector3d const &accel) const
	Use this to obtain the residual, world-space acceleration in m/s/s not associated with gravity, after incorporating a measurement. More...

void	postCorrect ()
	Normalize internal state. More...

Constructor & Destructor Documentation

◆ SimpleIMUFusion()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW xrt_fusion::SimpleIMUFusion::SimpleIMUFusion ( double gravity_rate = 0.9 )

inlineexplicit

Parameters

gravity_rate Value in [0, 1] indicating how much the accelerometer should affect the orientation each second.

References SIMPLE_IMU_DEBUG.

Member Function Documentation

◆ getAngVel()

Eigen::Vector3d const& xrt_fusion::SimpleIMUFusion::getAngVel ( ) const

inline

Get the angular velocity in body space.

References gyro, handleAccel(), and handleGyro().

◆ getCorrectedWorldAccel()

Eigen::Vector3d xrt_fusion::SimpleIMUFusion::getCorrectedWorldAccel ( Eigen::Vector3d const & accel ) const

inline

Use this to obtain the residual, world-space acceleration in m/s/s not associated with gravity, after incorporating a measurement.

Parameters

accel Body-relative acceleration measurement in m/s/s.

References MATH_GRAVITY_M_S2.

◆ getPredictedQuat()

Eigen::Quaterniond xrt_fusion::SimpleIMUFusion::getPredictedQuat ( timepoint_ns timestamp ) const

inline

Get the predicted orientation at some point in the future.

Here, we do not clamp the delta-t, so only ask for reasonable points in the future. (The gyro handler math does clamp delta-t for the purposes of integration in case of long times without signals, etc, which is OK since the accelerometer serves as a correction.)

References max.

Referenced by getRotationMatrix().

◆ getQuat()

Eigen::Quaterniond xrt_fusion::SimpleIMUFusion::getQuat ( ) const

inline

Get the current state orientation.

◆ getRotationMatrix()

Eigen::Matrix3d xrt_fusion::SimpleIMUFusion::getRotationMatrix ( ) const

inline

Get the current state orientation as a rotation matrix.

References getPredictedQuat(), and timestamp.

◆ getRotationVec()

Eigen::Vector3d xrt_fusion::SimpleIMUFusion::getRotationVec ( ) const

inline

Get the current state orientation as a rotation vector.

◆ handleAccel()

bool xrt_fusion::SimpleIMUFusion::handleAccel	(	Eigen::Vector3d const &	accel,
		timepoint_ns	timestamp
	)

inline

Process an accelerometer report.

Parameters

accel	Body-relative acceleration measurement in m/s/s.
timestamp	Nanosecond timestamp of this measurement.

Returns: true if the report was used to update the state.

Referenced by getAngVel().

◆ handleGyro()

bool xrt_fusion::SimpleIMUFusion::handleGyro	(	Eigen::Vector3d const &	gyro,
		timepoint_ns	timestamp
	)

inline

Process a gyroscope report.

Note: At startup, no gyro reports will be considered until at least one accelerometer report has been processed, to provide us with an initial estimate of the direction of gravity.

Parameters