Trait ahrs::Ahrs

pub trait Ahrs<N: Scalar + SimdValue> {
    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>

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>

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.

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Implementors

impl<N: RealField> Ahrs<N> for Madgwick<N>

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>

impl<N: RealField> Ahrs<N> for Mahony<N>

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>

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