Monado OpenXR Runtime
Data Fields
m_imu_pre_filter_part Struct Reference

This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per floats. More...

#include <math/m_imu_pre.h>

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Data Fields

struct xrt_vec3 bias
 Bias for the imu part. More...
 
float _pad
 
struct xrt_vec3 gain
 Gain for the imu part. More...
 
float ticks_to_float
 Going from IMU 'ticks' to a floating value. More...
 

Detailed Description

This is a common IMU pre-filter which takes raw 'ticks' from a 3 axis IMU measurement and converts it into degrees per secs and meters per floats.

One of these is used per gyro, accelerometer and magnometer.

The formula used is: v = ((V * ticks_to_float) - bias) * gain. For ticks_to_float the same value used for all channels, where as for gain and bias the value is per channel.

Field Documentation

◆ _pad

float m_imu_pre_filter_part::_pad

◆ bias

struct xrt_vec3 m_imu_pre_filter_part::bias

Bias for the imu part.

◆ gain

struct xrt_vec3 m_imu_pre_filter_part::gain

Gain for the imu part.

◆ ticks_to_float

float m_imu_pre_filter_part::ticks_to_float

Going from IMU 'ticks' to a floating value.


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