86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/*
|
|
* Copyright (C) 2011 The Android Open Source Project
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef ANDROID_FUSION_H
|
|
#define ANDROID_FUSION_H
|
|
|
|
#include <utils/Errors.h>
|
|
|
|
#include "quat.h"
|
|
#include "mat.h"
|
|
#include "vec.h"
|
|
|
|
namespace android {
|
|
|
|
typedef mat<float, 3, 4> mat34_t;
|
|
|
|
class Fusion {
|
|
/*
|
|
* the state vector is made of two sub-vector containing respectively:
|
|
* - modified Rodrigues parameters
|
|
* - the estimated gyro bias
|
|
*/
|
|
quat_t x0;
|
|
vec3_t x1;
|
|
|
|
/*
|
|
* the predicated covariance matrix is made of 4 3x3 sub-matrices and it is
|
|
* semi-definite positive.
|
|
*
|
|
* P = | P00 P10 | = | P00 P10 |
|
|
* | P01 P11 | | P10t P11 |
|
|
*
|
|
* Since P01 = transpose(P10), the code below never calculates or
|
|
* stores P01.
|
|
*/
|
|
mat<mat33_t, 2, 2> P;
|
|
|
|
/*
|
|
* the process noise covariance matrix
|
|
*/
|
|
mat<mat33_t, 2, 2> GQGt;
|
|
|
|
public:
|
|
Fusion();
|
|
void init();
|
|
void handleGyro(const vec3_t& w, float dT);
|
|
status_t handleAcc(const vec3_t& a);
|
|
status_t handleMag(const vec3_t& m);
|
|
vec4_t getAttitude() const;
|
|
vec3_t getBias() const;
|
|
mat33_t getRotationMatrix() const;
|
|
bool hasEstimate() const;
|
|
|
|
private:
|
|
mat<mat33_t, 2, 2> Phi;
|
|
vec3_t Ba, Bm;
|
|
uint32_t mInitState;
|
|
float mGyroRate;
|
|
vec<vec3_t, 3> mData;
|
|
size_t mCount[3];
|
|
enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
|
|
bool checkInitComplete(int, const vec3_t& w, float d = 0);
|
|
void initFusion(const vec4_t& q0, float dT);
|
|
void checkState();
|
|
void predict(const vec3_t& w, float dT);
|
|
void update(const vec3_t& z, const vec3_t& Bi, float sigma);
|
|
static mat34_t getF(const vec4_t& p);
|
|
};
|
|
|
|
}; // namespace android
|
|
|
|
#endif // ANDROID_FUSION_H
|