2 * Copyright (C) 2011 The Android Open Source Project
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
17 // released in android-11.0.0_r9
19 #ifndef ANDROID_FUSION_H
20 #define ANDROID_FUSION_H
29 typedef mat<float, 3, 4> mat34_t;
32 FUSION_9AXIS, // use accel gyro mag
33 FUSION_NOMAG, // use accel gyro (game rotation, gravity)
34 FUSION_NOGYRO, // use accel mag (geomag rotation)
38 class orientation_filter {
40 * the state vector is made of two sub-vector containing respectively:
41 * - modified Rodrigues parameters
42 * - the estimated gyro bias
48 * the predicated covariance matrix is made of 4 3x3 sub-matrices and it is
49 * semi-definite positive.
51 * P = | P00 P10 | = | P00 P10 |
52 * | P01 P11 | | P10t P11 |
54 * Since P01 = transpose(P10), the code below never calculates or
60 * the process noise covariance matrix
62 mat<mat33_t, 2, 2> GQGt;
66 void init(int mode = FUSION_9AXIS);
67 void handleGyro(const vec3_t& w, float dT);
68 status_t handleAcc(const vec3_t& a, float dT);
69 status_t handleMag(const vec3_t& m);
70 vec4_t getAttitude() const;
71 vec3_t getBias() const;
72 mat33_t getRotationMatrix() const;
73 bool hasEstimate() const;
83 mat<mat33_t, 2, 2> Phi;
91 enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
92 bool checkInitComplete(int, const vec3_t& w, float d = 0);
93 void initFusion(const vec4_t& q0, float dT);
95 void predict(const vec3_t& w, float dT);
96 void update(const vec3_t& z, const vec3_t& Bi, float sigma);
97 static mat34_t getF(const vec4_t& p);
98 static vec3_t getOrthogonal(const vec3_t &v);
103 #endif // ANDROID_FUSION_H