IMU3D< T > Class Template Reference

Basic 3D IMU dead-reckoning class. More...

#include <IMU3D.h>

Inheritance diagram for IMU3D< T >:

Collaboration diagram for IMU3D< T >:

Public Member Functions
bool	begin (const Coordinate< T > &initialPosition={0, 0, 0}, Orientation3D initialOrientation=Orientation3D())
void	end ()
void	update (T accelX, T accelY, T accelZ, T gyroX, T gyroY, T gyroZ, unsigned long nowMillis)
Distance3D	getLastDelta () const
	Get the last delta update (dx, dy, dz)
AngularVelocity3D	getLastAngularVelocity () const
	Get the last angular velocity (rad/s)
Speed3D	getLinearVelocity () const
	Get the current linear velocity (m/s)
Coordinate< DistanceM >	getPosition () const override
	Get the current position (IMotionState3D)
Orientation3D	getOrientation () const override
	Get the current orientation (IMotionState3D)
Speed3D	getSpeed () const override
AngularVelocity3D	getAngularVelocity () const override
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.
virtual Coordinate< DistanceM >	getPosition () const =0
virtual Orientation3D	getOrientation () const =0
virtual Speed3D	getSpeed () const =0
virtual AngularVelocity3D	getAngularVelocity () const =0

Protected Member Functions
void	publish ()

Protected Attributes
bool	is_active = false
Orientation3D	orientation
Speed3D	speed = Speed3D(0.0f, 0.0f, 0.0f, SpeedUnit::MPS)
Coordinate< T >	position
unsigned long	lastUpdateMillis = 0
Distance3D	lastDelta = Distance3D(0.0f, 0.0f, 0.0f, DistanceUnit::M)
AngularVelocity3D	lastAngularVelocity = AngularVelocity3D(0.0f, 0.0f, 0.0f, AngularVelocityUnit::RadPerSec)
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<typename T = float>
class tinyrobotics::IMU3D< T >

Basic 3D IMU dead-reckoning class.

This class estimates 3D position, velocity, and orientation (yaw, pitch, roll) for robotics applications by integrating gyroscope and accelerometer data over time.

• Integrates gyro (roll, pitch, yaw rates) to estimate orientation (radians)
• Integrates accelerometer (X, Y, Z) 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)

Template Parameters

T	Numeric type (float or double recommended)

Member Function Documentation

getAngularVelocity()

AngularVelocity3D getAngularVelocity ( ) const

inlineoverridevirtual

Implements IMotionState3D.

getOrientation()

Orientation3D getOrientation ( ) const

inlineoverridevirtual

Get the current orientation (IMotionState3D)

Implements IMotionState3D.

getPosition()

Coordinate< DistanceM > getPosition ( ) const

inlineoverridevirtual

Get the current position (IMotionState3D)

Implements IMotionState3D.

getSpeed()

Speed3D getSpeed ( ) const

inlineoverridevirtual

Implements IMotionState3D.

update()

void update ( T  accelX, T  accelY, T  accelZ, T  gyroX, T  gyroY, T  gyroZ, unsigned long  nowMillis  )

inline

Update with accelerometer and gyro measurements accelX, accelY, accelZ in sensor frame (m/s^2) gyroX, gyroY, gyroZ in rad/s (roll, pitch, yaw rates)

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

• src/TinyRobotics/imu/IMU3D.h