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author | Justin Berger <j.david.berger@gmail.com> | 2018-04-05 06:56:57 -0600 |
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committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-05 06:56:57 -0600 |
commit | 4b045e61ed6f3812cbf273ae279bfd7bc1ce029c (patch) | |
tree | e16ab505bfccc638f0ff288a8cca8c226a597767 /include/libsurvive | |
parent | d6d310fdd13c11382f37faca6a0c20b361ae9c40 (diff) | |
parent | f765f0e85cbd1bd00c7f5a18d6e7a4ada0db5918 (diff) | |
download | libsurvive-4b045e61ed6f3812cbf273ae279bfd7bc1ce029c.tar.gz libsurvive-4b045e61ed6f3812cbf273ae279bfd7bc1ce029c.tar.bz2 |
Merge branch 'master' into simple_api
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 }; |