1 files changed, 36 insertions, 0 deletions
diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h
new file mode 100644
index 0000000..124ad7e
--- /dev/null
+++ b/include/libsurvive/survive_imu.h
@@ -0,0 +1,36 @@
+#ifndef _SURVIVE_IMU_H
+#define _SURVIVE_IMU_H
+
+#include "poser.h"
+#include "survive_types.h"
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct SurviveIMUTracker_p;
+
+typedef struct {
+	FLT updir[3];
+	FLT accel_scale_bias;
+
+	LinmathVec3d current_velocity;	// Velocity in world frame
+	PoserDataIMU last_data;
+	SurvivePose pose;
+
+	SurvivePose lastGT;
+	uint32_t lastGTTime;
+
+	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);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif