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Updating docs.

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Kyle Isom 2019-08-06 23:39:59 -07:00
parent 52ba9d8ebe
commit dca6338228
2 changed files with 15 additions and 4 deletions
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docs/sphinx/_static/.gitkeep Normal file
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include/wrmath/filter/madgwick.h
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@ -1,7 +1,7 @@
/// \file madgwick.h /// \file madgwick.h
/// \brief Implementation of a Madgwick filter. /// \brief Implementation of a Madgwick filter.
/// ///
/// See [the paper](http://x-io.co.uk/res/doc/madgwick_internal_report.pdf). /// See
#ifndef __WRMATH_FILTER_MADGWICK_H #ifndef __WRMATH_FILTER_MADGWICK_H
#define __WRMATH_FILTER_MADGWICK_H #define __WRMATH_FILTER_MADGWICK_H
@ -10,12 +10,21 @@
#include <wrmath/geom/quaternion.h> #include <wrmath/geom/quaternion.h>
/// wr contains the wntrmute robotics code.
namespace wr { namespace wr {
/// filter contains filtering algorithms. /// filter contains filtering algorithms.
namespace filter { namespace filter {
/// Madgwick implements an efficient orientation filter for IMUs. /// @brief Madgwick implements an efficient orientation filter for IMUs.
///
/// Madgwick is a novel orientation filter applicable to IMUs
/// consisting oftri-axis gyroscopes and accelerometers, and MARG
/// sensor arrays that also includetri-axis magnetometers. The MARG
/// implementation incorporates magnetic distortionand gyroscope bias
/// drift compensation.
///
/// It is described in the paper [An efficient orientation filter for inertial and inertial/magnetic sensor arrays](http://x-io.co.uk/res/doc/madgwick_internal_report.pdf).
/// ///
/// \tparam T A floating point type. /// \tparam T A floating point type.
template <typename T> template <typename T>
@ -58,7 +67,7 @@ public:
/// with respect to the sensor frame. /// with respect to the sensor frame.
/// ///
/// \param gyro A three-dimensional vector containing gyro readings /// \param gyro A three-dimensional vector containing gyro readings
/// as \f$<\omega_x, \omega_y, \omega_z\>f$. /// as w_x, w_y, w_z.
/// \return A quaternion representing the rate of angular change. /// \return A quaternion representing the rate of angular change.
geom::Quaternion<T> geom::Quaternion<T>
angularRate(const geom::Vector<T, 3> &gyro) const angularRate(const geom::Vector<T, 3> &gyro) const
@ -68,6 +77,8 @@ public:
/// Update the sensor frame to a new frame. /// Update the sensor frame to a new frame.
/// ///
/// \param sf The new sensor frame replacing the previous one.
/// \param delta The time delta since the last update.
void void
updateFrame(const geom::Quaternion<T> &sf, T delta) updateFrame(const geom::Quaternion<T> &sf, T delta)
{ {
@ -80,7 +91,7 @@ public:
/// Update the sensor frame with a gyroscope reading. /// Update the sensor frame with a gyroscope reading.
/// ///
/// \param gyro A three-dimensional vector containing gyro readings /// \param gyro A three-dimensional vector containing gyro readings
/// as \f$<\omega_{x}, \omega_y, \omega_z>\f$. /// as w_x, w_y, w_z.
/// \param delta The time step between readings. It must not be zero. /// \param delta The time step between readings. It must not be zero.
void void
updateAngularOrientation(const geom::Vector<T, 3> &gyro, T delta) updateAngularOrientation(const geom::Vector<T, 3> &gyro, T delta)