IMU2D< T > Class Template Reference

Basic 2D IMU dead-reckoning class. More...

#include <IMU2D.h>

Inheritance diagram for IMU2D< T >:

Collaboration diagram for IMU2D< T >:

Public Member Functions
bool	begin (T initialAngleDeg, Coordinate< DistanceM > initialPosition)
bool	begin (Transform2D transform) override
void	end ()
void	update (T accelX, T accelY, T gyroZ_in, unsigned long nowMillis)
Delta2D	getLastDelta () const
	Get the last delta update (dx, dy, dtheta)
float	getAngularVelocity () const
	Get the current angular velocity (radians/second)
float	getLinearVelocity () const
	Get the current linear velocity (meters/second)
float	getTheta () const
	Get the current orientation (radians)
Coordinate< DistanceM >	getPosition () const
	get position
Angle	getHeading () const
	get heading as Angle
Speed	getSpeed () const
	get speed as Speed
Distance	getTotalDistance () const
	Get the total distance traveled.
uint32_t	getTimestamp () const
	Get time of last update.
Transform2D	getTransform () const
void	publish ()
virtual Coordinate< DistanceM >	getPosition () const =0
virtual Angle	getHeading () const =0
virtual Speed	getSpeed () const =0
virtual Transform2D	getTransform () const =0
virtual bool	begin (Transform2D transform)=0
virtual void	end ()=0
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.

Public Attributes
bool	is_active = false
float	headingRad = 0
float	speedMPS = 0
Coordinate< DistanceM >	position
unsigned long	lastUpdateMillis = 0
Delta2D	lastDelta = {0.0f, 0.0f, 0.0f}
float	lastAngularVelocity = 0.0f
float	totalDistanceM = 0.0f
uint32_t	timestamp = 0

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

Detailed Description

template<typename T = float>
class tinyrobotics::IMU2D< T >

Basic 2D IMU dead-reckoning class.

This class estimates 2D position, velocity, and heading (yaw angle) for robotics applications by integrating gyroscope and accelerometer data over time.

• Integrates gyro Z (yaw rate) to estimate heading (radians)
• Integrates accelerometer (X, Y) in the robot frame, rotated to world frame, to estimate velocity and position
• All units SI (meters, seconds, radians)

Limitations:

• No sensor fusion with magnetometer or GPS
• No Kalman filter or bias estimation
• Subject to drift over time (no correction)

Example usage:

IMU2D<float> imu;
imu.begin(initialAngle, initialPosition);
imu.update(accelX, accelY, gyroZ, millis());
auto pos = imu.getPosition();
auto heading = imu.getHeading();
auto speed = imu.getSpeed();

Template Parameters

T	Numeric type (float or double recommended)

Member Function Documentation

begin()

bool begin ( Transform2D  transform )

inlineoverridevirtual

Implements IMotionState2D.

end()

void end ( )

inlinevirtual

Implements IMotionState2D.

getHeading()

Angle getHeading ( ) const

inlinevirtual

get heading as Angle

Implements IMotionState2D.

getPosition()

Coordinate< DistanceM > getPosition ( ) const

inlinevirtual

get position

Implements IMotionState2D.

getSpeed()

Speed getSpeed ( ) const

inlinevirtual

get speed as Speed

Implements IMotionState2D.

getTransform()

Transform2D getTransform ( ) const

inlinevirtual

Implements IMotionState2D.

update()

void update ( T  accelX, T  accelY, T  gyroZ_in, unsigned long  nowMillis  )

inline

Update with accelerometer and gyro measurements (accelX, accelY in sensor frame, gyroZ in rad/s)

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

• src/TinyRobotics/imu/IMU2D.h