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Add Euler angles to Madgwick and update docs.

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This commit is contained in:
Kyle Isom
2019-08-06 23:42:51 -07:00
parent 85833c354d
commit ff3ff8d8b2
5 changed files with 22 additions and 5 deletions
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9
test/madgwick_test.cc
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@@ -3,6 +3,7 @@
#include <gtest/gtest.h>
#include <wrmath/geom/vector.h>
#include <wrmath/geom/quaternion.h>
#include <wrmath/math.h>
#include <wrmath/filter/madgwick.h>
using namespace std;
@@ -12,9 +13,10 @@ using namespace wr;
TEST(MadgwickFilter, SimpleAngularOrientation)
{
filter::Madgwickd mf;
geom::Vector3d gyro {0.17453292519943295, 0.0, 0.0}; // 10° X rotation.
geom::Vector3d gyro {0.174533, 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.
double twentyDegrees = math::DegreesToRadiansD(20.0);
// The paper specifies a minimum of 109 IMU readings to stabilize; for
// two seconds, that means 218 updates.
@@ -23,6 +25,11 @@ TEST(MadgwickFilter, SimpleAngularOrientation)
}
EXPECT_EQ(mf.orientation(), frame20Deg);
auto euler = mf.euler();
EXPECT_NEAR(euler[0], twentyDegrees, 0.01);
EXPECT_NEAR(euler[1], 0.0, 0.01);
EXPECT_NEAR(euler[2], 0.0, 0.01);
}