102 lines
4.5 KiB
C++
102 lines
4.5 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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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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#ifndef RTARDULINK_MODE
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#include "RTMath.h"
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// Define this symbol to use more scientific prediction correction
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#define USE_SLERP
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class RTFusionRTQF
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{
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public:
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RTFusionRTQF();
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~RTFusionRTQF();
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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(const RTVector3& gyro, const RTVector3& accel, const RTVector3& compass, unsigned long timestamp);
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// the following three functions control the influence of the gyro, accel and compass sensors
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void setGyroEnable(bool enable) { m_enableGyro = enable;}
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void setAccelEnable(bool enable) { m_enableAccel = enable; }
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void setCompassEnable(bool enable) { m_enableCompass = enable;}
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#ifdef USE_SLERP
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// the following function can be called to set the SLERP power
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void setSlerpPower(RTFLOAT power) { m_slerpPower = power; }
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#else
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// the following two functions can be called to customize the noise covariance
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void setQ(RTFLOAT Q) { m_Q = Q; reset();}
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void setR(RTFLOAT R) { if (R > 0) m_R = R; reset();}
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#endif
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inline const RTVector3& getMeasuredPose() {return m_measuredPose;}
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inline const RTQuaternion& getMeasuredQPose() {return m_measuredQPose;}
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inline const RTVector3& getFusionPose() {return m_fusionPose;}
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inline const RTQuaternion& getFusionQPose() {return m_fusionQPose;}
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private:
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void calculatePose(const RTVector3& accel, const RTVector3& mag); // generates pose from accels and heading
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RTFLOAT m_timeDelta; // time between predictions
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RTQuaternion m_stateQError; // difference between stateQ and measuredQ
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#ifdef USE_SLERP
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RTFLOAT m_slerpPower; // a value 0 to 1 that controls measured state influence
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RTQuaternion m_rotationDelta; // amount by which measured state differs from predicted
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RTQuaternion m_rotationPower; // delta raised to the appopriate power
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RTVector3 m_rotationUnitVector; // the vector part of the rotation delta
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#else
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RTFLOAT m_Q; // process noise covariance
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RTFLOAT m_R; // the measurement noise covariance
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#endif
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RTQuaternion m_measuredQPose; // quaternion form of pose from measurement
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RTVector3 m_measuredPose; // vector form of pose from measurement
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RTQuaternion m_fusionQPose; // quaternion form of pose from fusion
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RTVector3 m_fusionPose; // vector form of pose from fusion
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bool m_enableGyro; // enables gyro as input
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bool m_enableAccel; // enables accel as input
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bool m_enableCompass; // enables compass a input
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bool m_firstTime; // if first time after reset
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unsigned long m_lastFusionTime; // for delta time calculation
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};
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#endif // #ifndef RTARDULINK_MODE
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#endif // _RTFUSIONRTQF_H
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