#include <sot/core/madgwickahrs.hh>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::MadgwickAHRS::MadgwickAHRS |
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const std::string & |
name | ) |
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Estimated orientation of IMU as a quaternion.
virtual void dynamicgraph::sot::MadgwickAHRS::display |
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std::ostream & |
os | ) |
const |
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protectedvirtual |
void dynamicgraph::sot::MadgwickAHRS::init |
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const double & |
dt | ) |
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double dynamicgraph::sot::MadgwickAHRS::invSqrt |
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double |
x | ) |
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protected |
void dynamicgraph::sot::MadgwickAHRS::madgwickAHRSupdateIMU |
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double |
gx, |
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double |
gy, |
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double |
gz, |
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double |
ax, |
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double |
ay, |
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double |
az |
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) |
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protected |
void dynamicgraph::sot::MadgwickAHRS::set_beta |
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const double & |
beta | ) |
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Set the quaternion as [w,x,y,z].
double dynamicgraph::sot::MadgwickAHRS::m_beta |
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protected |
2 * proportional gain (Kp)
bool dynamicgraph::sot::MadgwickAHRS::m_initSucceeded |
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protected |
true if the entity has been successfully initialized
double dynamicgraph::sot::MadgwickAHRS::m_q0 |
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protected |
quaternion of sensor frame
double dynamicgraph::sot::MadgwickAHRS::m_q1 |
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protected |
double dynamicgraph::sot::MadgwickAHRS::m_q2 |
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protected |
double dynamicgraph::sot::MadgwickAHRS::m_q3 |
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protected |
double dynamicgraph::sot::MadgwickAHRS::m_sampleFreq |
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protected |