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Add Madgwick type aliases.

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Kyle Isom
2019-08-06 23:30:33 -07:00
parent ce21bbd38a
commit 85833c354d
3 changed files with 19 additions and 4 deletions
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8
test/madgwick_test.cc
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@@ -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.