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Add Madgwick type aliases.

This commit is contained in:
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
include/wrmath/filter.h Normal file
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@ -0,0 +1,8 @@
#ifndef __WRMATH_FILTER_H
#define __WRMATH_FILTER_H
#include <wrmath/filter/madgwick.h>
#endif __WRMATH_FILTER_H

7
include/wrmath/filter/madgwick.h
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@ -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 filter
} // namespace wr } // namespace wr

2
test/madgwick_test.cc
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@ -11,7 +11,7 @@ using namespace wr;
TEST(MadgwickFilter, SimpleAngularOrientation) TEST(MadgwickFilter, SimpleAngularOrientation)
{ {
filter::Madgwick<double> mf; filter::Madgwickd mf;
geom::Vector3d gyro {0.17453292519943295, 0.0, 0.0}; // 10° X rotation. geom::Vector3d gyro {0.17453292519943295, 0.0, 0.0}; // 10° X rotation.
geom::Quaterniond frame20Deg {0.984808, 0.173648, 0, 0}; // 20° final orientation. 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. double delta = 0.00917; // assume 109 updates per second, as per the paper.