t_imu.cpp File Reference

IMU fusion implementation - for inclusion into the single kalman-incuding translation unit. More...

#include "tracking/t_imu.h"
#include "tracking/t_imu_fusion.hpp"
#include "math/m_eigen_interop.hpp"
#include "util/u_misc.h"
#include <memory>

Include dependency graph for t_imu.cpp:

Data Structures
struct	imu_fusion

Functions
struct imu_fusion *	imu_fusion_create ()
void	imu_fusion_destroy (struct imu_fusion *fusion)
int	imu_fusion_incorporate_gyros (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *ang_vel, struct xrt_vec3 const *ang_vel_variance)
int	imu_fusion_incorporate_accelerometer (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *accel, struct xrt_vec3 const *accel_variance, struct xrt_vec3 *out_world_accel)
int	imu_fusion_get_prediction (struct imu_fusion const *fusion, uint64_t timestamp_ns, struct xrt_quat *out_quat, struct xrt_vec3 *out_ang_vel)
int	imu_fusion_get_prediction_rotation_vec (struct imu_fusion const *fusion, uint64_t timestamp_ns, struct xrt_vec3 *out_rotation_vec)
int	imu_fusion_incorporate_gyros_and_accelerometer (struct imu_fusion *fusion, uint64_t timestamp_ns, struct xrt_vec3 const *ang_vel, struct xrt_vec3 const *ang_vel_variance, struct xrt_vec3 const *accel, struct xrt_vec3 const *accel_variance, struct xrt_vec3 *out_world_accel)

Detailed Description

IMU fusion implementation - for inclusion into the single kalman-incuding translation unit.

Author

Ryan Pavlik ryan..nosp@m.pavl.nosp@m.ik@co.nosp@m.llab.nosp@m.ora.c.nosp@m.om

Function Documentation

imu_fusion_create()

struct imu_fusion* imu_fusion_create

(

)

imu_fusion_destroy()

void imu_fusion_destroy

(

struct imu_fusion *

fusion

)

imu_fusion_get_prediction()

int imu_fusion_get_prediction	(	struct imu_fusion const *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_quat *	out_quat,
		struct xrt_vec3 *	out_ang_vel
	)

References imu_fusion::simple_fusion, and xrt_fusion::SimpleIMUFusion::valid().

imu_fusion_get_prediction_rotation_vec()

int imu_fusion_get_prediction_rotation_vec	(	struct imu_fusion const *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 *	out_rotation_vec
	)

References imu_fusion::simple_fusion, imu_fusion::time_ns, and xrt_fusion::SimpleIMUFusion::valid().

imu_fusion_incorporate_accelerometer()

int imu_fusion_incorporate_accelerometer	(	struct imu_fusion *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 const *	accel,
		struct xrt_vec3 const *	accel_variance,
		struct xrt_vec3 *	out_world_accel
	)

imu_fusion_incorporate_gyros()

int imu_fusion_incorporate_gyros	(	struct imu_fusion *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 const *	ang_vel,
		struct xrt_vec3 const *	ang_vel_variance
	)

References xrt_fusion::SimpleIMUFusion::handleGyro(), and imu_fusion::simple_fusion.

imu_fusion_incorporate_gyros_and_accelerometer()

int imu_fusion_incorporate_gyros_and_accelerometer	(	struct imu_fusion *	fusion,
		uint64_t	timestamp_ns,
		struct xrt_vec3 const *	ang_vel,
		struct xrt_vec3 const *	ang_vel_variance,
		struct xrt_vec3 const *	accel,
		struct xrt_vec3 const *	accel_variance,
		struct xrt_vec3 *	out_world_accel
	)