63 lines
2.2 KiB
C++
63 lines
2.2 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Teensy
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTFUSIONRTQF_H
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#define _RTFUSIONRTQF_H
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#include "RTFusion.h"
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class RTFusionRTQF : public RTFusion
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{
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public:
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RTFusionRTQF();
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~RTFusionRTQF();
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// fusionType returns the type code of the fusion algorithm
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virtual int fusionType() { return RTFUSION_TYPE_RTQF; }
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// reset() resets the state but keeps any setting changes (such as enables)
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void reset();
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// newIMUData() should be called for subsequent updates
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// deltaTime is in units of seconds
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void newIMUData(RTIMU_DATA& data, const RTIMUSettings *settings);
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private:
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void predict();
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void update();
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RTVector3 m_gyro; // unbiased gyro data
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RTFLOAT m_timeDelta; // time between predictions
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RTQuaternion m_stateQ; // quaternion state vector
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RTQuaternion m_stateQError; // difference between stateQ and measuredQ
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int m_sampleNumber;
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};
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#endif // _RTFUSIONRTQF_H
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