From 85833c354d9749020210cbc0bd3578f548f694bf Mon Sep 17 00:00:00 2001
From: Kyle Isom <kyle@imap.cc>
Date: Tue, 6 Aug 2019 23:30:33 -0700
Subject: [PATCH] Add Madgwick type aliases.

---
 include/wrmath/filter.h          | 8 ++++++++
 include/wrmath/filter/madgwick.h | 7 +++++++
 test/madgwick_test.cc            | 8 ++++----
 3 files changed, 19 insertions(+), 4 deletions(-)
 create mode 100644 include/wrmath/filter.h

diff --git a/include/wrmath/filter.h b/include/wrmath/filter.h
new file mode 100644
index 0000000..cf0f4e4
--- /dev/null
+++ b/include/wrmath/filter.h
@@ -0,0 +1,8 @@
+#ifndef __WRMATH_FILTER_H
+#define __WRMATH_FILTER_H
+
+
+#include <wrmath/filter/madgwick.h>
+
+
+#endif __WRMATH_FILTER_H
diff --git a/include/wrmath/filter/madgwick.h b/include/wrmath/filter/madgwick.h
index dac9c07..11fdff7 100644
--- a/include/wrmath/filter/madgwick.h
+++ b/include/wrmath/filter/madgwick.h
@@ -98,6 +98,13 @@ private:
 };
 
 
+/// Madgwickd is a shorthand alias for a Madgwick<double>.
+typedef Madgwick<double>	Madgwickd;
+
+/// Madgwickf is a shorthand alias for a Madgwick<float>.
+typedef Madgwick<float>		Madgwickf;
+
+
 } // namespace filter
 } // namespace wr
 
diff --git a/test/madgwick_test.cc b/test/madgwick_test.cc
index 44564de..45c9c5a 100644
--- a/test/madgwick_test.cc
+++ b/test/madgwick_test.cc
@@ -11,10 +11,10 @@ using namespace wr;
 
 TEST(MadgwickFilter, SimpleAngularOrientation)
 {
-	filter::Madgwick<double>	mf;
-	geom::Vector3d			gyro {0.17453292519943295, 0.0, 0.0}; // 10° X rotation.
-	geom::Quaterniond		frame20Deg {0.984808, 0.173648, 0, 0}; // 20° final orientation.
-	double 				delta = 0.00917; // assume 109 updates per second, as per the paper.
+	filter::Madgwickd	mf;
+	geom::Vector3d		gyro {0.17453292519943295, 0.0, 0.0}; // 10° X rotation.
+	geom::Quaterniond	frame20Deg {0.984808, 0.173648, 0, 0}; // 20° final orientation.
+	double 			delta = 0.00917; // assume 109 updates per second, as per the paper.
 
 	// The paper specifies a minimum of 109 IMU readings to stabilize; for
 	// two seconds, that means 218 updates.