Expand description
An implementation of the VQF IMU orientation estimation filter in pure Rust.
This is, currently, a pretty direct port of the C++ implemenataion in https://github.com/dlaidig/vqf; further efforts to make the code more idiomatic may be helpful.
The main entry point for this crate is VQF; look there to get started.
This crate needs a library for floating-point arithmetic; currently std, libm, and micromath is supported.
Notably, micromath implies f32 as micromath does not provide f64 arithmetic.
Structs§
- Coefficients
- Struct containing coefficients used by the VQF class.
- Matrix
- A fixed-size matrix.
- Params
- Struct containing all tuning parameters used by the VQF class.
- Quaternion
- A quaternion.
- State
- Struct containing the filter state of the VQF class.
- VQF
- A Versatile Quaternion-based Filter for IMU Orientation Estimation.
Type Aliases§
- Float
- Typedef for the floating-point data type used for most operations.