Crate vqf_rs

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.