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| author | Justin Berger <j.david.berger@gmail.com> | 2018-04-04 21:07:02 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-04 21:15:54 -0600 |
| commit | 48f791f98d9eda5948de4ef6930d0530b7ca633e (patch) | |
| tree | 12f41f08ca4383140a2d84955ae9849584955c1c /include/libsurvive | |
| parent | a2514e88dc6945a1cc817c09d251378bd924488e (diff) | |
| download | libsurvive-48f791f98d9eda5948de4ef6930d0530b7ca633e.tar.gz libsurvive-48f791f98d9eda5948de4ef6930d0530b7ca633e.tar.bz2 | |
Added kalman to imu
Diffstat (limited to 'include/libsurvive')
| -rw-r--r-- | include/libsurvive/survive_imu.h | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h index 124ad7e..8a86425 100644 --- a/include/libsurvive/survive_imu.h +++ b/include/libsurvive/survive_imu.h @@ -22,12 +22,17 @@ typedef struct { SurvivePose lastGT; uint32_t lastGTTime; + FLT P[7]; // estimate variance + float integralFBx, integralFBy, integralFBz; // integral error terms scaled by Ki } SurviveIMUTracker; void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, uint32_t timecode, SurvivePose *pose); + void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker, PoserDataIMU *data); +void survive_imu_tracker_integrate_observation(SurviveObject *so, uint32_t timecode, SurviveIMUTracker *tracker, + SurvivePose *pose, const FLT *variance); #ifdef __cplusplus }; |