Trait ahrs::Ahrs
[−]
[src]
pub trait Ahrs<N: BaseFloat> { fn update(&mut self,
gyroscope: &Vector3<N>,
accelerometer: &Vector3<N>,
magnetometer: &Vector3<N>)
-> Result<&Quaternion<N>, &str>; fn update_imu(&mut self,
gyroscope: &Vector3<N>,
accelerometer: &Vector3<N>)
-> Result<&Quaternion<N>, &str>; }
Trait for implementing an AHRS filter.
Required Methods
fn update(&mut self,
gyroscope: &Vector3<N>,
accelerometer: &Vector3<N>,
magnetometer: &Vector3<N>)
-> Result<&Quaternion<N>, &str>
gyroscope: &Vector3<N>,
accelerometer: &Vector3<N>,
magnetometer: &Vector3<N>)
-> Result<&Quaternion<N>, &str>
Attempts to update the current state quaternion using 9dof IMU values, made up by gyroscope
,
accelerometer
, and magnetometer
.
Returns a reference to the updated quaternion on success, or in the case of failure, an
Err(&str)
containing the reason.
fn update_imu(&mut self,
gyroscope: &Vector3<N>,
accelerometer: &Vector3<N>)
-> Result<&Quaternion<N>, &str>
gyroscope: &Vector3<N>,
accelerometer: &Vector3<N>)
-> Result<&Quaternion<N>, &str>
Attempts to update the current state quaternion using 6dof IMU values, made up by gyroscope
&
accelerometer
.
Returns a reference to the updated quaternion on success, or in the case of failure, an
Err(&str)
containing the reason.