3D sensor fusion EKF for position, orientation, and velocity estimation. More...

#include <Fusion3D.h>

Inheritance diagram for Fusion3D:

Collaboration diagram for Fusion3D:

Public Member Functions
bool	begin (const Coordinate< float > &initialPosition={0, 0, 0}, const Orientation3D &initialOrientation=Orientation3D())

void	predict (uint32_t timeMs, float ax=0.0f, float ay=0.0f, float az=0.0f)

void	updateIMU (uint32_t timeMs, float omegaX, float omegaY, float omegaZ, float ax, float ay, float az)

void	updateGPS (uint32_t timeMs, float x, float y, float z, float accuracy)

void	updateOrientation (uint32_t timeMs, float yaw, float pitch, float roll)

State3D	getState () const

Coordinate< float >	getPosition () const

Speed3D	getVelocity () const

Orientation3D	getOrientation () const

Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.

void	unsubscribeAll ()
	Remove all registered message handlers.

void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.

void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.

void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.

void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Attributes
State3D	state

uint32_t	lastPredictTime = 0

float	omegaXMeasured = 0.0f

float	omegaYMeasured = 0.0f

float	omegaZMeasured = 0.0f

bool	hasIMU = false

Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

3D sensor fusion EKF for position, orientation, and velocity estimation.

Supports optional sensors:

The EKF automatically adapts to the available sensors.

The documentation for this class was generated from the following file:

Classes