Struct Fusion 

pub struct Fusion { /* private fields */ }

Implementations

impl Fusion

pub fn new(gravity: f64) -> Self

pub fn update_no_magnetometer( &mut self, dt: f64, gyro: [f64; 3], accel: [f64; 3], )

Update the AHRS with new sensor data. gyroscope units are degrees/s accelerometer units are g

pub fn update_no_magnetometer_ros( &mut self, dt: f64, gyro: [f64; 3], accel: [f64; 3], )

Update the AHRS with new sensor data. gyroscope units are radians/s accelerometer units are m/s^2

pub fn get_quaternion(&self) -> [f64; 4]

Get orientation in world frame as a quaternion. The quaternion is in the form [w, x, y, z].

pub fn get_linear_acceleration(&self) -> [f64; 3]

Get linear acceleration in sensor frame. The acceleration is in the form [x, y, z]. Units are g.

pub fn get_linear_acceleration_ros(&self) -> [f64; 3]

Trait Implementations

impl Debug for Fusion

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

Formats the value using the given formatter.

impl Drop for Fusion

fn drop(&mut self)

Executes the destructor for this type.

impl Send for Fusion

impl Sync for Fusion