Struct ahrs::Madgwick

pub struct Madgwick<N: Scalar + SimdValue + Copy> {
    pub quat: UnitQuaternion<N>,
    /* private fields */
}

Madgwick AHRS implementation.

Example

let mut ahrs = Madgwick::new(0.002390625f64, 0.1);
println!("madgwick filter: {:?}", ahrs);

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

Fields

quat: UnitQuaternion<N>

Filter state quaternion.

Implementations

impl<N: Scalar + SimdValue + One + Zero + Copy> Madgwick<N>

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

Creates a new Madgwick AHRS instance with identity quaternion.

Arguments

• sample_period - The expected sensor sampling period in seconds.
• beta - Filter gain.

pub fn new_with_quat(sample_period: N, beta: N, quat: UnitQuaternion<N>) -> Self

Creates a new Madgwick AHRS instance with given quaternion.

Arguments

• sample_period - The expected sensor sampling period in seconds.
• beta - Filter gain.
• quat - Existing filter state quaternion.

Trait Implementations

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

fn update(
    &mut self,
    gyroscope: &Vector3<N>,
    accelerometer: &Vector3<N>,
    magnetometer: &Vector3<N>
) -> Result<&UnitQuaternion<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<&UnitQuaternion<N>, &str>

Attempts to update the current state quaternion using 6dof IMU values, made up by gyroscope & accelerometer.

impl<N: Scalar + SimdValue + Copy> Clone for Madgwick<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: Debug + Scalar + SimdValue + Copy> Debug for Madgwick<N>

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

Formats the value using the given formatter.

impl Default for Madgwick<f64>

fn default() -> Madgwick<f64>

Creates a new Madgwick instance with default filter parameters.

dbg!(Madgwick::default());

// prints (roughly):
//
// Madgwick {
//     sample_period: 1.0f64/256.0,
//     beta: 0.1f64,
//     quat: Quaternion { w: 1.0f64, i: 0.0, j: 0.0, k: 0.0 }
// };

impl<N: SimdRealField + Hash + Copy> Hash for Madgwick<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,
    Self: Sized,

Feeds a slice of this type into the given Hasher.

impl<N: SimdRealField + Copy> PartialEq<Madgwick<N>> for Madgwick<N>where
    N::Element: SimdRealField + Copy,

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

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

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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

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