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authorJustin Berger <j.david.berger@gmail.com>2018-04-05 06:56:57 -0600
committerJustin Berger <j.david.berger@gmail.com>2018-04-05 06:56:57 -0600
commit4b045e61ed6f3812cbf273ae279bfd7bc1ce029c (patch)
treee16ab505bfccc638f0ff288a8cca8c226a597767 /include/libsurvive
parentd6d310fdd13c11382f37faca6a0c20b361ae9c40 (diff)
parentf765f0e85cbd1bd00c7f5a18d6e7a4ada0db5918 (diff)
downloadlibsurvive-4b045e61ed6f3812cbf273ae279bfd7bc1ce029c.tar.gz
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Merge branch 'master' into simple_api
Diffstat (limited to 'include/libsurvive')
-rw-r--r--include/libsurvive/survive_imu.h5
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
};