Package com.inertia.orientation
Interface OrientationFilter
- All Known Implementing Classes:
ImuFilter
public interface OrientationFilter
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Method Summary
Modifier and Type Method Description double[]
orientation()
get current orientationvoid
reInitGyro(int still_period)
Deprecated.void
setAccelAffinity(double bell_a, double bell_w)
The filter uses a bell curve around acceleration changes to diminish the effect of high accelerationsvoid
setGyroBias(double x, double y, double z)
Set the Gyro bias in radiansdouble[]
update(double dt, double[] accel, double[] compass, double[] gyro)
Function to compute one filter iteration
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Method Details
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orientation
double[] orientation()get current orientation- Returns:
- orientation quaternion
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update
double[] update(double dt, double[] accel, double[] compass, double[] gyro)Function to compute one filter iteration- Parameters:
dt
- time difference with previous sampleaccel
- acceleration vectorcompass
- magnetometer vectorgyro
- gyroscope vector- Returns:
- orientation quaternion
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reInitGyro
@Deprecated void reInitGyro(int still_period)Deprecated. -
setAccelAffinity
void setAccelAffinity(double bell_a, double bell_w)The filter uses a bell curve around acceleration changes to diminish the effect of high accelerations- Parameters:
bell_a
- controls the height of the bell curve peakbell_w
- controlls the width of the bell curve
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setGyroBias
void setGyroBias(double x, double y, double z)Set the Gyro bias in radians- Parameters:
x
- x-axisy
- y-axisz
- z-axis
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