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Document and refactor geom code.

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- Doxygenate headers.
- Rename to bring methods and functions in line with everything else.
This commit is contained in:
Kyle Isom
2023-10-20 20:45:39 -07:00
parent 4b1007123a
commit 6a421d6adf
27 changed files with 802 additions and 680 deletions
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20
include/scmp/filter/Madgwick.h
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@@ -40,8 +40,8 @@ namespace filter {
/// @brief Madgwick implements an efficient Orientation filter for IMUs.
///
/// Madgwick is a novel Orientation filter applicable to IMUs
/// consisting of tri-axis gyroscopes and accelerometers, and MARG
/// sensor arrays that also include tri-axis magnetometers. The MARG
/// consisting of tri-Axis gyroscopes and accelerometers, and MARG
/// sensor arrays that also include tri-Axis magnetometers. The MARG
/// implementation incorporates magnetic distortionand gyroscope bias
/// drift compensation.
///
@@ -51,24 +51,24 @@ namespace filter {
template <typename T>
class Madgwick {
public:
/// \brief The Madgwick filter is initialised with an identity quaternion.
/// \brief The Madgwick filter is initialised with an identity MakeQuaternion.
Madgwick() : deltaT(0.0), previousSensorFrame(), sensorFrame()
{};
/// \brief The Madgwick filter is initialised with a sensor frame.
///
/// \param sf A sensor frame; if zero, the sensor frame will be
/// initialised as an identity quaternion.
/// initialised as an identity MakeQuaternion.
Madgwick(scmp::geom::Vector<T, 3> sf) : deltaT(0.0), previousSensorFrame()
{
if (!sf.isZero()) {
sensorFrame = scmp::geom::quaternion<T>(sf, 0.0);
if (!sf.IsZero()) {
sensorFrame = scmp::geom::MakeQuaternion<T>(sf, 0.0);
}
}
/// \brief Initialise the filter with a sensor frame quaternion.
/// \brief Initialise the filter with a sensor frame MakeQuaternion.
///
/// \param sf A quaternion representing the current Orientation.
/// \param sf A MakeQuaternion representing the current Orientation.
Madgwick(scmp::geom::Quaternion<T> sf) :
deltaT(0.0), previousSensorFrame(), sensorFrame(sf)
{};
@@ -91,7 +91,7 @@ public:
///
/// \param gyro A three-dimensional vector containing gyro readings
/// as w_x, w_y, w_z.
/// \return A quaternion representing the rate of angular change.
/// \return A MakeQuaternion representing the rate of angular change.
scmp::geom::Quaternion<T>
AngularRate(const scmp::geom::Vector<T, 3> &gyro) const
{
@@ -166,7 +166,7 @@ public:
scmp::geom::Vector<T, 3>
Euler()
{
return this->sensorFrame.euler();
return this->sensorFrame.Euler();
}
/// \brief Set the default Δt.