m_imu_3dof.h File Reference

A IMU fusion specially made for 3dof devices. More...

#include "xrt/xrt_defines.h"

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Data Structures
struct	m_imu_3dof

Macros
#define	M_IMU_3DOF_USE_GRAVITY_DUR_300MS   (1 << 0)
#define	M_IMU_3DOF_USE_GRAVITY_DUR_20MS   (1 << 1)

Enumerations
enum	m_imu_3dof_state { M_IMU_3DOF_STATE_START = 0, M_IMU_3DOF_STATE_RUNNING = 1 }

Functions
void	m_imu_3dof_init (struct m_imu_3dof *f, int flags)
void	m_imu_3dof_close (struct m_imu_3dof *f)
void	m_imu_3dof_update (struct m_imu_3dof *f, uint64_t timepoint_ns, const struct xrt_vec3 *accel, const struct xrt_vec3 *gyro)

Detailed Description

A IMU fusion specially made for 3dof devices.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

M_IMU_3DOF_USE_GRAVITY_DUR_20MS

#define M_IMU_3DOF_USE_GRAVITY_DUR_20MS   (1 << 1)

Referenced by vive_controller_found().

M_IMU_3DOF_USE_GRAVITY_DUR_300MS

#define M_IMU_3DOF_USE_GRAVITY_DUR_300MS   (1 << 0)

Enumeration Type Documentation

m_imu_3dof_state

enum m_imu_3dof_state

Enumerator
M_IMU_3DOF_STATE_START
M_IMU_3DOF_STATE_RUNNING

Function Documentation

m_imu_3dof_close()

void m_imu_3dof_close

(

struct m_imu_3dof *

f

)

References m_imu_3dof::gyro_ff, m_ff_vec3_f32_free(), and m_imu_3dof::word_accel_ff.

m_imu_3dof_init()

void m_imu_3dof_init	(	struct m_imu_3dof *	f,
		int	flags
	)

References m_imu_3dof::flags, m_imu_3dof::gyro_ff, m_ff_vec3_f32_alloc(), m_imu_3dof::rot, U_ZERO, xrt_quat::w, and m_imu_3dof::word_accel_ff.

Referenced by vive_controller_found().

m_imu_3dof_update()

void m_imu_3dof_update	(	struct m_imu_3dof *	f,
		uint64_t	timepoint_ns,
		const struct xrt_vec3 *	accel,
		const struct xrt_vec3 *	gyro
	)

Skip the first sample.

References m_imu_3dof::accel, m_imu_3dof::delta_ms, DUR_1S_IN_NS, m_imu_3dof::gyro, gyro, m_imu_3dof::gyro_ff, m_imu_3dof::last, m_ff_vec3_f32_push(), M_IMU_3DOF_STATE_RUNNING, M_IMU_3DOF_STATE_START, xrt_vec3::math_quat_rotate_vec3(), m_imu_3dof::rot, m_imu_3dof::state, m_imu_3dof::timepoint_ns, and m_imu_3dof::word_accel_ff.