Trait ahrs::Ahrs
[−]
[src]
pub trait Ahrs<N: Real> { 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>
&mut self,
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>
&mut self,
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.