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

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.

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.

Implementors