Outputs of the MIMU sensor fusion component. More...

Public Attributes
array_message<"sensor to global quaternion", 4, "quaternion representation of the orientation of the sensor in the global frame", float, -1.0f, 1.0f >	quaternion

array_message<"global to sensor quaternion", 4, "quaternion representation of the orientation of the global bases in the sensor frame", float, -1.0f, 1.0f >	conjugate

array_message<"sensor to global matrix", 9, "special orthogonal matrix of the sensor basis vectors expressed in the global frame", float, -1.0f, 1.0f >	matrix

array_message<"global to sensor matrix", 9, "special orthogonal matrix of the global basis vectors expressed in the sensor frame", float, -1.0f, 1.0f >	inverse

slider<"norm of gravity", "estimated strength of gravity relative to one standard gravity (9.80665 m/s/s)", float, 0.995f, 1.002f >	norm_of_gravity

slider<"gravity measurements", "count of gravity measurements", unsigned int, 0, 1<< 16 >	g_count

vec3_message<"sensor acceleration", float, -16.0f mss_per_g, 16.0f mss_per_g, "m/s/s", "estimated acceleration due to motion expressed in the sensor frame of reference" >	sensor_accl

vec3_message<"global acceleration", float, -16.0f mss_per_g, 16.0f mss_per_g, "m/s/s", "estimated acceleration due to motion expressed in the performance frame of reference" >	global_accl

vec3_message<"previous accelerometer", float, -16.0f, 16.0f, "g", "previous measurement of acceleration; used in the estimation of jerk" >	accl_prev

vec3_message<"jerk", float, -32.0f, 32.0f, "g/s", "approximate signal analogous to the derivative of acceleration in the sensor frame" >	jerk

vec3_message<"gyroscope bias", float, -2000.0f rad_per_deg, 2000.0f rad_per_deg, "rad/s", "estimated gyroscope sensor bias" >	gyro_bias

vec3_message<"magnetometer maximum", float, -4900.0f, 4900.0f, "uT", "component-wise maximum of magnetometer values measured while calibrating bias compensation" >	magn_max

vec3_message<"magnetometer minimum", float, -4900.0f, 4900.0f, "uT", "component-wise minimum of magnetometer values measured while calibrating bias compensation" >	magn_min

vec3_message<"magnetometer bias", float, -4900.0f, 4900.0f, "uT", "estimated magnetometer sensor bias" >	magn_bias

vec3_message<"angular rate", float, -2000.0f rad_per_deg, 2000.0f rad_per_deg, "rad/s", "estimated angular rate based on fused sensor measurements" >	angular_rate

vec3_message< "integral feedback", float, -20.0f, 20.0f, "integral feedback through the complementary filter" >	integral_feedback

toggle<"stationary", "boolean indication of whether the sensor is stationary (1) or movement is detected (0)" >	stationary

Detailed Description

Outputs of the MIMU sensor fusion component.

The documentation for this struct was generated from the following file:

sygaldry/sygsp-complementary_mimu_fusion/sygsp-complementary_mimu_fusion_endpoints.hpp

Public Attributes

Detailed Description