Struct ahrs::Mahony

pub struct Mahony<N: Scalar + SimdValue> {
    pub quat: Quaternion<N>,
    // some fields omitted
}

Mahony AHRS implementation.

Example

let mut ahrs = Mahony::new(0.002390625f64, 0.5, 0.0);
println!("mahony filter: {:?}", ahrs);

// Can now process IMU data using `Ahrs::update_imu`, etc.

Fields

quat: Quaternion<N>

Filter state quaternion.

Implementations

impl<N: RealField> Mahony<N>

pub fn new(sample_period: N, kp: N, ki: N) -> Self

Creates a new Mahony AHRS instance with identity quaternion.

Arguments

• sample_period - The expected sensor sampling period in seconds.
• kp - Proportional filter gain constant.
• ki - Integral filter gain constant.

pub fn new_with_quat(
    sample_period: N,
    kp: N,
    ki: N,
    quat: Quaternion<N>
) -> Self

Creates a new Mahony AHRS instance with given quaternion.

Arguments

• sample_period - The expected sensor sampling period in seconds.
• kp - Proportional filter gain constant.
• ki - Integral filter gain constant.
• quat - Existing filter state quaternion.

Trait Implementations

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>

Attempts to update the current state quaternion using 9dof IMU values, made up by gyroscope, accelerometer, and magnetometer.

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.

impl<N: Scalar + SimdValue> Clone for Mahony<N>

fn clone(&self) -> Self

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Scalar + Copy + SimdValue> Copy for Mahony<N>

impl<N: Debug + Scalar + SimdValue> Debug for Mahony<N>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Mahony<f64>

fn default() -> Mahony<f64>

Creates a default Mahony AHRS instance with default filter parameters.

dbg!(Mahony::default());

// prints (roughly):
//
// Madgwick {
//     sample_period: 1.0f64/256.0,
//     kp: 0.5f64,
//     ki: 0.0f64,
//     e_int: Vector3 { x: 0.0f64, y: 0.0, z: 0.0 },
//     quat: Quaternion { w: 1.0f64, i: 0.0, j: 0.0, k: 0.0 }
// };

impl<N: SimdRealField + Eq> Eq for Mahony<N> where
    N::Element: SimdRealField, 

impl<N: SimdRealField + Hash> Hash for Mahony<N>

fn hash<H: Hasher>(&self, state: &mut H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H) where
    H: Hasher, 

Feeds a slice of this type into the given Hasher.

impl<N: SimdRealField> PartialEq<Mahony<N>> for Mahony<N> where
    N::Element: SimdRealField, 

fn eq(&self, rhs: &Self) -> bool

This method tests for self and other values to be equal, and is used by ==.

#[must_use]fn ne(&self, other: &Rhs) -> bool

This method tests for !=.