Trait SensorFusionMath 

pub trait SensorFusionMath: Sized {
    // Required methods
    fn estimate_gravity(q: Quaternion<Self>) -> Vector3d<Self>;
    fn derivative(q: Quaternion<Self>, gyro: Vector3d<Self>) -> Quaternion<Self>;
    fn madgwick_step_acc(
        q: Quaternion<Self>,
        acc: Vector3d<Self>,
        max_acc_magnitude_squared: Self,
    ) -> Quaternion<Self>;
    fn madgwick_step_acc_mag(
        q: Quaternion<Self>,
        acc: Vector3d<Self>,
        mag: Vector3d<Self>,
        max_acc_magnitude_squared: Self,
    ) -> Quaternion<Self>;
}

Required Methods

fn estimate_gravity(q: Quaternion<Self>) -> Vector3d<Self>

fn derivative(q: Quaternion<Self>, gyro: Vector3d<Self>) -> Quaternion<Self>

fn madgwick_step_acc( q: Quaternion<Self>, acc: Vector3d<Self>, max_acc_magnitude_squared: Self, ) -> Quaternion<Self>

fn madgwick_step_acc_mag( q: Quaternion<Self>, acc: Vector3d<Self>, mag: Vector3d<Self>, max_acc_magnitude_squared: Self, ) -> Quaternion<Self>

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementations on Foreign Types

impl SensorFusionMath for f32

fn madgwick_step_acc( q: Quaternion<Self>, acc: Vector3d<Self>, max_acc_magnitude_squared: Self, ) -> Quaternion<Self>

Features of this implementation:

1. Parallel Throughput: Instead of 12 separate floating-point multiplications and 8 additions, the SIMD unit performs 3 vector multiplications and 2 vector additions.

2. Instruction Density: The simd_swizzle! maps directly to the VREV or VMOV instructions on the M33.

3. Register Reuse: q_v stays in its SIMD register the entire time. The compiler will likely use VFMA (Vector Fused Multiply-Add) to combine the terms, meaning this whole function could resolve in under 15 clock cycles.

fn estimate_gravity(q: Quaternion<Self>) -> Vector3d<Self>

fn derivative(q: Quaternion<Self>, gyro: Vector3d<Self>) -> Quaternion<Self>

fn madgwick_step_acc_mag( q: Quaternion<Self>, acc: Vector3d<Self>, mag: Vector3d<Self>, max_acc_magnitude_squared: Self, ) -> Quaternion<Self>

impl SensorFusionMath for f64

fn estimate_gravity(q: Quaternion<Self>) -> Vector3d<Self>

fn derivative(q: Quaternion<Self>, gyro_rps: Vector3d<Self>) -> Quaternion<Self>

fn madgwick_step_acc( q: Quaternion<Self>, acc: Vector3d<Self>, max_acc_magnitude_squared: Self, ) -> Quaternion<Self>

fn madgwick_step_acc_mag( q: Quaternion<Self>, _acc: Vector3d<Self>, _mag: Vector3d<Self>, _max_acc_magnitude_squared: Self, ) -> Quaternion<Self>

Implementors