#include <sot/core/madgwickahrs.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | MadgwickAHRS (const std::string &name) |
void | init (const double &dt) |
void | set_beta (const double &beta) |
void | set_imu_quat (const dynamicgraph::Vector &imu_quat) |
Set the quaternion as [w,x,y,z]. More... | |
DECLARE_SIGNAL_IN (accelerometer, dynamicgraph::Vector) | |
ax ay az in m.s-2 More... | |
DECLARE_SIGNAL_IN (gyroscope, dynamicgraph::Vector) | |
gx gy gz in rad.s-1 More... | |
DECLARE_SIGNAL_OUT (imu_quat, dynamicgraph::Vector) | |
Estimated orientation of IMU as a quaternion. More... | |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () const |
virtual std::string | getDocString () const |
bool | hasSignal (const std::string &signame) const |
SignalBase< int > & | getSignal (const std::string &signalName) |
const SignalBase< int > & | getSignal (const std::string &signalName) const |
std::ostream & | displaySignalList (std::ostream &os) const |
virtual std::ostream & | writeGraph (std::ostream &os) const |
virtual std::ostream & | writeCompletionList (std::ostream &os) const |
virtual SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
LoggerVerbosity | getLoggerVerbosityLevel () |
bool | setTimeSample (double t) |
double | getTimeSample () |
bool | setStreamPrintPeriod (double t) |
double | getStreamPrintPeriod () |
Protected Member Functions | |
virtual void | display (std::ostream &os) const |
double | invSqrt (double x) |
void | madgwickAHRSupdateIMU (double gx, double gy, double gz, double ax, double ay, double az) |
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void | addCommand (const std::string &name, command::Command *command) |
void | entityRegistration () |
void | entityDeregistration () |
void | signalRegistration (const SignalArray< int > &signals) |
void | signalDeregistration (const std::string &name) |
Protected Attributes | |
bool | m_initSucceeded |
true if the entity has been successfully initialized More... | |
double | m_beta |
2 * proportional gain (Kp) More... | |
double | m_q0 |
quaternion of sensor frame More... | |
double | m_q1 |
double | m_q2 |
double | m_q3 |
double | m_sampleFreq |
sample frequency in Hz More... | |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Logger | logger_ |
Additional Inherited Members | |
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typedef std::map< std::string, SignalBase< int > *> | SignalMap |
typedef std::map< const std::string, command::Command *> | CommandMap_t |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::MadgwickAHRS::MadgwickAHRS | ( | const std::string & | name | ) |
dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_IN | ( | accelerometer | , |
dynamicgraph::Vector | |||
) |
ax ay az in m.s-2
dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_IN | ( | gyroscope | , |
dynamicgraph::Vector | |||
) |
gx gy gz in rad.s-1
dynamicgraph::sot::MadgwickAHRS::DECLARE_SIGNAL_OUT | ( | imu_quat | , |
dynamicgraph::Vector | |||
) |
Estimated orientation of IMU as a quaternion.
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protectedvirtual |
Reimplemented from dynamicgraph::Entity.
void dynamicgraph::sot::MadgwickAHRS::init | ( | const double & | dt | ) |
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protected |
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void dynamicgraph::sot::MadgwickAHRS::set_beta | ( | const double & | beta | ) |
void dynamicgraph::sot::MadgwickAHRS::set_imu_quat | ( | const dynamicgraph::Vector & | imu_quat | ) |
Set the quaternion as [w,x,y,z].
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protected |
2 * proportional gain (Kp)
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protected |
true if the entity has been successfully initialized
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protected |
quaternion of sensor frame
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protected |
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sample frequency in Hz