From f60bed509a7e416c155bcd35d5151bca65eaa190 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Wed, 21 Mar 2018 11:20:34 -0600 Subject: IMU research --- include/libsurvive/survive_imu.h | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 include/libsurvive/survive_imu.h (limited to 'include') diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h new file mode 100644 index 0000000..323cb6a --- /dev/null +++ b/include/libsurvive/survive_imu.h @@ -0,0 +1,27 @@ +#ifndef _SURVIVE_IMU_H +#define _SURVIVE_IMU_H + +#include "poser.h" +#include "survive_types.h" +#include + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct { + FLT updir[3]; + LinmathVec3d current_velocity; + PoserDataIMU last_data; + SurvivePose pose; + +} SurviveIMUTracker; + +void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, SurvivePose *pose); +void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker, PoserDataIMU *data); + +#ifdef __cplusplus +}; +#endif + +#endif -- cgit v1.2.3