Struct ImuCalibration 

pub struct ImuCalibration {
    pub accel_scale_misalignment: [[f64; 3]; 3],
    pub gyro_scale_misalignment: [[f64; 3]; 3],
}

IMU scale-factor and misalignment matrices.

Each matrix is the M in (I + M)^-1(measured - bias).

Fields

accel_scale_misalignment: [[f64; 3]; 3]

Accelerometer scale and misalignment matrix.

gyro_scale_misalignment: [[f64; 3]; 3]

Gyroscope scale and misalignment matrix.

Implementations

impl ImuCalibration

pub fn from_scale_ppm( accel_scale_ppm: [f64; 3], gyro_scale_ppm: [f64; 3], ) -> Result<ImuCalibration, InertialError>

Build a diagonal calibration from scale factors in parts per million.

pub fn validate(&self) -> Result<(), InertialError>

Validate finite calibration matrices and invertibility of I + M.

Trait Implementations

impl Clone for ImuCalibration

fn clone(&self) -> ImuCalibration

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for ImuCalibration

impl Debug for ImuCalibration

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

Formats the value using the given formatter.

impl Default for ImuCalibration

fn default() -> ImuCalibration

Returns the “default value” for a type.

impl PartialEq for ImuCalibration

fn eq(&self, other: &ImuCalibration) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for ImuCalibration