Used to calculate madgick orientation given sensor streams for gyro and optionally magnetometer(s) and accelerometer(s) More...

#include <MadgwickOrientationSensor.h>

Inheritance diagram for MadgwickOrientationSensor:

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Collaboration diagram for MadgwickOrientationSensor:

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Public Member Functions
Vector< 3, Angle< fltp08 > >	angleFromQuaternion (const Quaternion< fltp08 > &quaternion) const

Angle< fltp08 >	angularVelocity () const

bool	collectRecentRecords (const Time &cutoff_time, Buffer< IMU::Point, uint04, ObjectAllocator< false > > &imu_points, const Time &offset_time)

sint02	getPacketGyroState () const

void	initialComputeMadgwick (Vector< 3, fltp08 > a, Vector< 3, fltp08 > m, Quaternion< fltp08 > &q, Time time)

	MadgwickOrientationSensor (const Model &model, ProgressInfo log, QObject parent=nullptr)

Matrix< fltp08 >	orientationAt (const Time &time) const

void	processAcceleration (Ray< 3, fltp08 > accel_data, const Time &ts)

void	processGyro (Ray< 3, fltp08 > gyro_data, const Time &ts)

void	processMadgwick (Time time)

void	processQuaternion (const Quaternion< fltp08 > &quaternion, const Time &ts)

bool	readyToSetupFrame () const

bool	requestGyroCalibration () override

void	reset ()

void	setGyroState (GyroState state)

void	setPacketGyroState (sint02 state)

void	setRequestGyroCallback (const std::function< void()> &callback)

void	setStoreReadings (bool store_readings)

bool	supportsFixed () const override

bool	supportsRodded () const override

void	updateFromQuaternion (Time time)

Public Member Functions inherited from OrientationSensor
virtual Ray< 3, fltp08 >	calibratedMagnetometerVector () const

virtual UUID	calibrationID () const

virtual TranslatedString	calibrationMessage () const

fltp04	calibrationPercent () const

IMUCalibrator *	calibrator () const

void	checkForSetMagneticDeclination ()

virtual void	clearCurrentDrift ()

virtual Angle< fltp08 >	compassAngle () const

void	createCalibrationOffset (const Matrix< fltp08 > &map_from, const Matrix< fltp08 > &map_to)

Vector< 3, Angle< fltp08 > >	deviceOffsets () const

const Vector< 3, Angle< fltp08 > > &	driftRate () const

Vector< 3, Angle< fltp08 > >	driftValue () const

virtual Time	getGyroCalibrationTime () const

Vector< 3, Angle< fltp08 > >	gravityAccelerationToAngle (const Vector< 3, fltp08 > &acceleration_vector)

virtual GyroState	gyroState () const

virtual bool	hasCalibratedDrift () const

virtual bool	hasLockedRoll () const

virtual bool	hasLockedYaw () const

virtual bool	isGyroUpdating () const

virtual bool	isLocked () const

virtual Matrix< fltp08 >	lastOrientation () const

virtual void	lockRoll (bool lock_roll, Angle< fltp08 > roll=Constant< Angle< fltp08 > >::Invalid, Angle< fltp08 > yaw=Constant< Angle< fltp08 > >::Invalid)

virtual void	lockYaw (bool lock_yaw, Angle< fltp08 > lock_heading=Constant< Angle< fltp08 > >::Invalid)

virtual MagneticCalibrationData *	magnetometerCalibrationObject ()

virtual MagnetometerState	magnetometerState () const

virtual bool	needsMagnetometerCalibration () const

	OrientationSensor (const Model &model, ProgressInfo log, QObject parent=nullptr)

Vector< 3, Angle< fltp08 > >	quaternionToAngle (const Vector< 4, fltp08 > &quaternion) const

virtual Ray< 3, fltp08 >	rawMagnetometerVector () const

virtual Ray< 3, fltp08 >	referenceDirection () const

virtual bool	requestAccelerationBiasLimit (fltp04 bias_limit)

virtual bool	requestApplyMagnetometerCalibration ()

virtual bool	requestMagnetometerCalibration (bool)

virtual bool	requestUsingAccelerometer (bool using_accelerometer)

virtual bool	requestUsingCompass (bool using_compass)

virtual bool	requestUsingGyro (bool using_gyro, bool reset_state)

void	setCalibrationOffset (const Matrix< fltp08 > &offset)

virtual void	setCalibrator (IMUCalibrator *imu_calibrator)

void	setDeviceOffsets (Vector< 3, Angle< fltp08 > > device_offsets)

virtual void	setDriftRate (const Vector< 3, Angle< fltp08 > > &drift_rate)

void	setFromAngles (const Vector< 3, Angle< fltp08 > > &angles)

void	setFromGravityAcceleration (const Vector< 3, fltp08 > &acceleration_vector)

virtual void	setFromQuaternion (const Vector< 4, fltp08 > &quaternion)

void	setUserSpecifiedOffsets (const Vector< 3, Angle< fltp08 > > &user_specified_offsets)

virtual bool	supportsModes () const

Vector< 3, Angle< fltp08 > >	userSpecifiedOffsets () const

virtual bool	usingAccelerometer () const

virtual bool	usingCompass () const

virtual bool	usingGyro () const

Public Member Functions inherited from Device
	Device (const Model &model, ProgressInfo log, QObject parent=nullptr)

ProgressInfo *	deviceLog () const

virtual void	endUpdates ()

virtual void	setLog (ProgressInfo *log)

void	setWarningCallback (const std::function< void(const Exception &warning, ProgressInfo *log)> &warning_callback)

void	startAutoUpdate (DesignObjectLookup *lookup=nullptr)

void	stopAutoUpdate (DesignObjectLookup *lookup=nullptr)

virtual void	update ()

virtual void	update (DesignObjectLookup *lookup, Time time) override

virtual TimeSpan	updateInterval () const

Public Member Functions inherited from Model
void	addChild (Model &child)

void	addChild (uint04 child_index)

void	addPerVertexColorFromMaterialConstant (UVType constant_index)

Matrix< fltp08 >	applyTransformToParent (const Matrix< fltp08 > &parent_mat) const

Vector< 3, fltp08 >	calculateAverageDirection (const Matrix< fltp08 > &parent_transform=Constant< Matrix< fltp08 > >::Invalid) const

Vector< 2, fltp08 >	calculateHVLength (const Matrix< fltp08 > &parent_transform=Constant< Matrix< fltp08 > >::Invalid) const

void	calculateIndexNeighborList ()

fltp08	calculateLength (const Matrix< fltp08 > &transform=Constant< Matrix< fltp08 > >::Invalid) const

void	calculateNormals (NormalMode mode, Angle< fltp08 > smoothing_angle)

void	calculateSmoothTextures (Vector< 3, fltp08 > origin, fltp08 scale)

fltp08	calculateSurfaceArea (const Matrix< fltp08 > &transform=Constant< Matrix< fltp08 > >::Invalid) const

void	calculateTangentSpace (bool calc_tan, bool calc_bitan)

fltp08	calculateVolume (const Matrix< fltp08 > &transform=Constant< Matrix< fltp08 > >::Invalid) const

Vector< 2, fltp08 >	calculateVolumeAndSurfaceArea (const Matrix< fltp08 > &transform=Constant< Matrix< fltp08 > >::Invalid, const void *lock=nullptr) const

bool	canExplode () const

bool	canInteract () const

Vertex< 3, fltp08 >	centerAlignModel ()

void	checkBounds ()

uint04	childCount () const

void	clearChildren ()

void	clearLayer ()

void	clearMaterialDescendents ()

void	colorByChannel (Material &mat, const String &channel, fltp08 avg=Constant< fltp08 >::Invalid) const

Dictionary< UUID, DesignObject >	copyFrom (const Model &model, bool deep_copy, bool copy_ids=false, bool recursive=true)

Dictionary< UUID, DesignObject >	copyMaterialProperties (const Model &model)

Model	createChild ()

Model	createChild (uint04 child_slot)

Effect	createChildEffect ()

Geometry	createChildGeometry ()

Material	createChildMaterial (bool copy_child=false)

Material	createChildMaterial (PrimitiveProperty property, bool copy_child=false)

void	createChildren (uint04 child_size)

Effect	createSceneEffect () const

Geometry	createSceneGeometry () const

Model	createSceneLayer () const

Material	createSceneMaterial () const

Model	createSceneModel () const

RGBColor	customModelColor (ModelColorMode mode) const

void	deleteModel (bool delete_children, bool remove_from_parent=true)

BitFlag	descendedFlags () const

BitFlag	descendedFlagsNoCache (bool complete_cache_ignore) const

BitFlag	descendedPersonalFlagsNoCache () const

Buffer< GeometryType >	descendentGeometryTypes () const

TranslatedString	displayName () const

TranslatedString	displayNamePath (const String &seperator=":") const

bool	doesModelPropertyContain (ModelProperty property, const char *value, bool ignore_case) const

bool	doesModelPropertyContain (ModelProperty property, const String &value, bool ignore_case) const

void	eraseModel ()

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	explodeModel ()

bool	exportIgnored () const

Model	findDescendentByName (const String &name) const

Model	findDescendentByType (const String &type) const

Time	getAscModifiedTime (bool include_self, bool include_layer=true) const

Bounds< 3, fltp08 >	getBounds () const

Bounds< 3, fltp08 >	getBoundsOfVisible () const

Model	getChild (uint04 child) const

uint04	getChildIndex () const

uint04	getChildIndex (uint04 child) const

Buffer< uint04 >	getChildIndices () const

uint04	getChildLayerIndex () const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getChildren () const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getChildrenByName (const String &name) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getChildrenByType (const Buffer< String > &type) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getChildrenByType (const String &type) const

Buffer< UUID >	getChildrenIDs () const

Buffer< std::pair< Model, Geometry >, uint04, ObjectAllocator< DESIGN_PRIM > >	getClippingGeometry () const

Matrix< fltp08 >	getCompleteTransform () const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getDescendents (bool include_deleted=false, bool local_only=false) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getDescendentsByName (const String &name, uint04 max_count=Constant< uint04 >::Max) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getDescendentsByNameAndType (const String &name, const String &type, uint04 max_count=Constant< uint04 >::Max) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getDescendentsByType (const String &type, uint04 max_count=Constant< uint04 >::Max) const

Time	getDescModifiedTime (bool include_self) const

uint04	getDirectLayerIndex () const

Effect	getEffect (uint04 index=0) const

Buffer< Effect, uint04, ObjectAllocator< false > >	getEffectChildren () const

Buffer< Effect, uint04, ObjectAllocator< false > >	getEffectDescendents () const

uint04	getEffectIndex (uint04 child_index=0) const

Model	getFamilyMember (uint04 index) const

Geometry	getGeometry () const

Buffer< Geometry, uint04, ObjectAllocator< DESIGN_PRIM > >	getGeometryDescendents (bool remove_redundant=true, uint04 max_count=Constant< uint04 >::Max) const

uint04	getGeometryIndex () const

Model	getLayer () const

Material	getMaterial (PrimitiveProperty property) const

Buffer< Material, uint04, ObjectAllocator< DESIGN_PRIM > >	getMaterialChildren () const

Buffer< Material, uint04, ObjectAllocator< DESIGN_PRIM > >	getMaterialDescendents (bool local_only=false) const

Buffer< Material, uint04, ObjectAllocator< DESIGN_PRIM > >	getMaterialDescendents (PrimitiveProperty property) const

Buffer< Material, uint04, ObjectAllocator< DESIGN_PRIM > >	getMaterialDescendentsByName (const String &name, uint04 max_count=Constant< uint04 >::Max) const

uint04	getMaterialIndex (PrimitiveProperty property) const

MaterialMode	getMaterialMode (PrimitiveProperty property) const

String	getModelIcon () const

template<class t_type >
t_type	getModelProperty (ModelProperty property) const

uint04	getNumOfEffects () const

Model	getParent () const

uint04	getParentIndex () const

Matrix< fltp08 >	getParentTransform () const

Material	getRootMaterial (PrimitiveProperty property) const

Model	getRootMaterialModel (PrimitiveProperty property)

Effect	getSceneEffect (UUID id) const

Buffer< Effect, uint04, ObjectAllocator< false > >	getSceneEffects () const

Buffer< Geometry, uint04, ObjectAllocator< DESIGN_PRIM > >	getSceneGeometries () const

Geometry	getSceneGeometry (uint04 index) const

Geometry	getSceneGeometry (UUID id) const

Model	getSceneLayer (UUID id) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getSceneLayers (bool include_deleted=false) const

Material	getSceneMaterial (uint04 index) const

Material	getSceneMaterial (UUID id) const

Buffer< Material, uint04, ObjectAllocator< DESIGN_PRIM > >	getSceneMaterials () const

Model	getSceneModel (UUID id) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getSceneModels (bool include_deleted=false, bool local_only=false) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getSceneModelsByName (const String &name, uint04 max_count=Constant< uint04 >::Max, bool include_deleted=false) const

Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	getSceneModelsByType (const String &type, uint04 max_count=Constant< uint04 >::Max, bool include_deleted=false) const

Bounds< 3, fltp08 >	getSelectionBounds () const

template<class t_type >
Buffer< t_type >	getTypeChildren (const String &type) const

template<class t_type >
Buffer< t_type >	getTypeDescendents (const String &type) const

Bounds< 3, fltp08 >	globalBounds () const

Vertex< 3, fltp08 >	globalCenterOfRotation () const

Bounds< 3, fltp08 >	globalSelectionBounds () const

bool	hasChild (uint04 child_index) const

bool	hasDescendent (const Model &model) const

bool	hasDescendent (const UUID &id) const

void	hasDescendents (bool &has_point, bool &has_line, bool &has_mesh) const

bool	hasDirectLayer () const

bool	hasEffect (uint04 index=0) const

bool	hasFocus () const

bool	hasGeometryDescendent () const

bool	hasHoles (PrimitiveProperty property) const

bool	hasLayer () const

bool	hasLayerRootMaterial (PrimitiveProperty property) const

bool	hasLinearDescendent () const

bool	hasMaterial () const

bool	hasMaterial (PrimitiveProperty property) const

bool	hasMeshDescendent () const

bool	hasPointsDescendent () const

bool	hasSelectedDescendent () const

Vector< 32, bool >	inheritedFlags () const

Vector< 32, bool >	inheritedFlagsNoCache (bool complete_cache_ignore) const

Vector< 32, bool >	inheritedPersonalFlagsNoCache () const

void	invalidateBounds ()

void	invalidateGlobalBoundsAsc ()

void	invalidateGlobalBoundsDesc ()

void	invalidateTransformCache ()

void	invalidateVisibleBounds ()

bool	isApplicationOwned () const

bool	isDeleted () const

bool	isLayer () const

bool	isLocked () const

bool	isModelProperty (ModelProperty property, const char *value) const

bool	isModelProperty (ModelProperty property, const String &value) const

bool	isOfType (const char *type) const

bool	isOfType (const String &type) const

bool	isScene () const

bool	isSelected () const

bool	isTreeVisible () const

bool	isVisible () const

	Model ()

	Model (const DesignObject &obj)

	Model (DesignObjectBase *base)

	Model (uint04 index, DesignObjectBase *base)

	operator bool () const

void	overrideMaterialDescendents (MaterialMode vertex, MaterialMode outline, MaterialMode solid)

void	overrideMaterialDescendents (PrimitiveProperty property, MaterialMode override_desc)

BitFlag	parentMatrixFlags () const

BitFlag	personalDescendedFlags () const

Vector< 32, bool >	personalInheritedFlags () const

void	removeChild (const Model &model)

void	removeDuplicateVertices (fltp08 epsilon, void lock, ProgressInfo log=nullptr)

void	removeGeometry ()

void	removeMaterial (const Material &material)

void	removeMaterial (PrimitiveProperty property)

void	restoreModel ()

void	setChildIndex (uint04 child, uint04 id)

void	setGeometryChild (const Geometry &geo)

void	setGeometryChild (uint04 geo_index)

void	setIsLayer (bool is_layer)

void	setLayer (Model layer)

void	setMaterial (const Material &material)

void	setMaterial (PrimitiveProperty property, const Material &material)

void	setMaterial (PrimitiveProperty property, uint04 material_index)

void	setMaterial (uint04 material_index)

void	setMaterialMode (MaterialMode vertex, MaterialMode outline, MaterialMode solid)

void	setMaterialMode (PrimitiveProperty property, MaterialMode option)

template<class t_type >
void	setModelProperty (ModelProperty property, const t_type &value)

void	setNormalMode (NormalMode mode, Angle< fltp08 > smoothing_angle, ProgressInfo *log)

void	setOrientation (const Vector< 3, Angle< fltp08 > > &new_orientation, const void *lock=nullptr)

void	setOrientation (const Vector< 3, Angle< sint04 > > &new_orientation, const void *lock=nullptr)

void	setParentMatrixFlag (ParentMatrixFlags flag, bool value)

void	setParentMatrixFlags (BitFlag flags)

void	setSize (const Vector< 3, fltp08 > &size)

void	setTransform (const Matrix< fltp08 > &transform)

void	setWindingMode (WindingMode mode)

Vector< 3, fltp08 >	size () const

void	swapChildren (uint04 a, uint04 b)

void	updateAscTime (const Time &time, bool include_self)

void	updateDescendedFlagsCache (bool force_update_all=false)

void	updateDescTime (const Time &time, bool include_self)

void	updateFrom (const Model &model, bool check_resources)

void	updateInheritedFlagsCache (bool force_update_all=false, bool update_personal_flags=false)

template<class t_type >
void	updateModelProperty (ModelProperty property, const t_type &type, const void *lock_ptr=nullptr)

void	updateModifiedTime (Time time=Time::SystemTime())

void	updateTransform (const Matrix< fltp08 > &transform, const void *lock=nullptr)

void	updateVisible (bool is_visible)

void	updateVisibleRecursive (bool is_visible)

void	validate (bool validate_children=true) const

uint04	vertexCount () const

uint04	visibleVertexCount () const

Public Member Functions inherited from DesignObject
void	actionDeletedIndex (uint04 index, uint04 size)

JSONNode	activeFilters () const

void	addIndex (uint04 index, uint04 size)

void	appendData (const String &data, bool compressed)

DesignObjectBase &	base () const

void	clearMetaData (const String &index)

void	copyFrom (const DesignObject &object)

uint04	designIndex () const

	DesignObject ()=default
	Creates an "invalid" design object. This object does not have a backing database, and all indices will be Invalid. Checking properties on this object is not permitted but you may use the '=' to set this model to a different model.

	DesignObject (DesignObjectBase *base)
	Creates an new design object within the given DesignObjectBase. This object is appended to the end of the DesignObjectBase data structure and values are setup to defaults.

	DesignObject (uint04 index, DesignObjectBase *base)
	Sets a DesignObject up to be a pointer to an existing object in the database. If the index is invalid behavior is undefined.

bool	doesPropertyBeginWith (DesignProperty property, const char *value, bool ignore_case) const

bool	doesPropertyBeginWith (DesignProperty property, const String &value, bool ignore_case) const

bool	doesPropertyContain (DesignProperty property, const char *value, bool ignore_case) const

bool	doesPropertyContain (DesignProperty property, const String &value, bool ignore_case) const

File	file () const

uint04	getDesignParentIndex () const

String	getIcon () const

template<class t_type >
t_type	getInheritedProperty (DesignProperty property) const

Time	getModifiedTime () const

template<class t_type >
t_type	getProperty (DesignProperty property) const

Scene	getScene () const

Matrix< fltp08 >	getTransform () const

bool	hasMetaData (const String &index) const

template<class t_type >
bool	hasProperty (DesignProperty property) const

uint04	index () const

bool	isDesignType (DesignObjectType mode) const

bool	isDesignType (uint04 mode) const

bool	isProperty (DesignProperty property, const char *value) const

bool	isProperty (DesignProperty property, const String &value) const

bool	isValid () const

const JSONNode &	metaData () const

const JSONNode &	metaData (const String &index) const

void	offset (const Vector< 3, fltp08 > &offset)

	operator bool () const

bool	operator!= (const DesignObject &model) const

bool	operator< (const DesignObject &model) const

bool	operator== (const DesignObject &model) const

bool	operator> (const DesignObject &model) const

DynamicPointer< Table > &	propertyTable ()

const DynamicPointer< Table > &	propertyTable () const

void	removeMetaData (const String &index, const void *lock_ptr=nullptr)

void	scale (Vector< 3, fltp08 > scale, Vertex< 3, fltp08 > center_of_scale=Constant< Vertex< 3, fltp08 > >::Invalid)

void	setActiveFilters (const JSONNode &node)

void	setDesignType (DesignObjectType mode, bool is_type)

void	setDesignVisible (bool is_visible)

void	setMetaData (const JSONNode &node)

void	setMetaData (const String &index, const bool &data)

void	setMetaData (const String &index, const fltp08 &data)

void	setMetaData (const String &index, const JSONNode &node)

void	setMetaData (const String &index, const String &data)

void	setMetaData (const String &index, const uint04 &data)

template<>
void	setProperty (DesignProperty property, const String &value)

template<class t_type >
void	setProperty (DesignProperty property, const t_type &value)

template<>
void	setProperty (DesignProperty property, const UUID &value)

void	updateCreatedTime ()

void	updateDesignModifiedTime (Time time=Time::SystemTime())

void	updateDesignTransform (const Matrix< fltp08 > &transform, const void *lock=nullptr)

void	updateDesignVisible (bool is_visible, const void *lock=nullptr)

void	updateMetaData (const String &index, const bool &data, const void *lock_ptr=nullptr)

void	updateMetaData (const String &index, const fltp08 &data, const void *lock_ptr=nullptr)

void	updateMetaData (const String &index, const String &data, const void *lock_ptr=nullptr)

template<class t_type >
void	updateProperty (DesignProperty property, const t_type &value, const void *lock=nullptr)

UUID	uuid () const

bool	validateDesignObject () const

Public Member Functions inherited from DesignObjectUpdateTarget

Static Public Member Functions
static void	updateMadgwick (Vector< 3, fltp08 > g, Vector< 3, fltp08 > a, Vector< 3, fltp08 > m, Quaternion< fltp08 > &q, TimeSpan time_span, fltp08 beta)

Static Public Member Functions inherited from OrientationSensor
static Matrix< fltp08, 3, 3 >	calculateDeviation (TimeSpan time, const Vector< 4, fltp08 > &start, const Vector< 4, fltp08 > &end)

static Angle< fltp08 >	calculateNorthFacing (const Matrix< fltp08, 3, 3 > &offset_mat)

static Matrix< fltp08, 3, 3 >	offsetCalibration (TimeSpan time_since_calibration, const Matrix< fltp08, 3, 3 > &current_orientation, const Matrix< fltp08, 3, 3 > &dev_matrix)

Static Public Member Functions inherited from Device
static void	SetDefaultDeviceLookup (DesignObjectLookup *lookup)

Static Public Member Functions inherited from Model
static Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > >	ReduceToRoots (const Buffer< Model, uint04, ObjectAllocator< DESIGN_PRIM > > &children, const std::function< bool(const Model &, const Set< Model > &)> &filter)

Static Public Member Functions inherited from DesignObject
static constexpr const char *	FilePathDesignNameVariable ()

Protected Attributes
Vector< 3, fltp08 >	m_accel = Constant<Vector<3, fltp08>>::Invalid

fltp08	m_beta = 0.042

TimeSpan	m_calibration_time = TimeSpan(5.0)

Vector< 3, fltp08 >	m_gyro = Constant<Vector<3, fltp08>>::Invalid

Vector< 3, fltp08 >	m_gyro_calibration = Vector<3, fltp08>(0.0)

QueueBuffer< OrientationReading, uint04, ObjectAllocator< true, uint04 > >	m_historic_orientation

uint04	m_init_count = 0

Time	m_last_timestamp = Constant<Time>::Invalid

Vector< 3, fltp08 >	m_magnet = Constant<Vector<3, fltp08>>::Invalid

Vector< 3, fltp08 >	m_prev_accel_data = { 0,0,0 }

Time	m_prev_accel_timestamp = Time(0)

Quaternion< fltp08 >	m_quaternion = Quaternion<fltp08>(1.0, 0.0, 0.0, 0.0)

std::function< void()>	m_request_gyro_callback

bool	m_reset_gyro = true

Time	m_start_calibration_time = Constant<Time>::Invalid

bool	m_store_readings = false

std::mutex	m_theta_mtx

TimeSpan	m_total_ts

Buffer< Ray< 3, fltp08 > >	v_accel_data_sync

Buffer< Ray< 3, fltp08 > >	v_gyro_data

Buffer< Time >	v_gyro_timestamp

Angle< fltp08 >	yaw_offset = Constant<Angle<fltp08>>::Invalid

Protected Attributes inherited from OrientationSensor
AccelerometerState	m_acceleromter_state

Vector< 3, Angle< fltp08 > >	m_angle_drift_rate

Time	m_angle_drift_start_time

Ray< 3, fltp08 >	m_calibrated_magnetomer_vector = Constant<Ray<3, fltp08>>::Invalid

UUID	m_calibration_id

Matrix< fltp08 >	m_calibration_offset

fltp04	m_calibration_percent

Time	m_calibration_time

Vector< 3, Angle< fltp08 > >	m_device_specified_offsets

bool	m_gyro_calibration_requested = false

GyroState	m_gyro_state

bool	m_has_calibrated_drift = false

IMUCalibrator *	m_imu_calibrator = nullptr

bool	m_is_gyro_updating = false

bool	m_is_locked = false

MagnetometerState	m_magnetometer_state

Ray< 3, fltp08 >	m_raw_magnetometer_vector = Constant<Ray<3, fltp08>>::Invalid

Angle< fltp08 >	m_roll_lock

Angle< fltp08 >	m_roll_lock_reference_yaw

Vector< 3, Angle< fltp08 > >	m_tilt_angle

Vector< 3, Angle< fltp08 > >	m_user_specified_offsets

bool	m_using_accelerometer = false

bool	m_using_compass = false

bool	m_using_gyro = false

Angle< fltp08 >	m_yaw_lock

Protected Attributes inherited from Device
ProgressInfo *	m_log

DeviceUpdateThread *	m_update_thread = nullptr

std::function< void(const Exception &warning, ProgressInfo *log)>	m_warning_callback

Protected Attributes inherited from DesignObject
DesignObjectBase *	m_base = nullptr

uint04	m_design_index = Constant<uint04>::Invalid

uint04	m_index = Constant<uint04>::Invalid

UUID	m_uuid = Constant<UUID>::Invalid

Additional Inherited Members
Public Types inherited from Model
enum	DescendedFlags { e_descendent_selected = 0 , e_descendent_focussed = 1 , e_descendent_deletion_blocked = 2 }

enum	InheritedFlags : uint01 { e_inherited_is_visible = 0 , e_inherited_has_no_focus = 1 , e_inherited_is_tree_visible = 2 , e_inherited_not_selected = 3 , e_inherited_is_manager_visible = 4 , e_inherited_can_delete = 5 , e_inherited_does_not_follow_camera = 6 , e_inherited_does_not_orient_to_camera = 7 , e_inherited_does_not_scale_to_camera = 8 , e_inherited_not_deleted = 9 , e_inherited_not_application_owned = 10 , e_inherited_exportable = 11 }

enum class	MaterialMode { e_by_parent , e_by_layer , e_custom , e_hidden }

enum class	ModelColorMode { e_direct , e_by_selectable_children , e_by_material_root , e_by_layer }

enum	ModelProperty { e_type , e_fixed_bounding_box , e_visible_box , e_calculation_ignored , e_can_select_children , e_complete_transform , e_material_mode_solid , e_material_mode_outline , e_material_mode_vertices , e_parent_matrix_flags , e_global_bounds , e_global_selection_bounds , e_model_color , e_inherited_flags , e_personal_inherited_flags , e_export_ignored , e_descended_flags , e_personal_descended_flags , e_application_constructed , e_application_constructed_parent_base , e_model_property_size }

enum	ParentMatrixFlags : uint01 { e_ignore_offset = 0 , e_ignore_scale = 1 , e_ignore_rotation = 2 , e_ignore_scale_distortion = 3 , e_use_only_for_offset = 4 , e_orient_to_camera = 5 , e_follow_camera = 6 , e_scale_to_camera = 7 }

Public Types inherited from DesignObject
enum	DesignObjectType { e_model = 0x00000001 , e_geometry = 0x00000002 , e_material = 0x00000004 , e_bone = 0x00000008 , e_effect = 0x00000010 , e_layer = 0x00000020 , e_scene = 0x00000040 , e_camera = 0x00000080 , e_selection = 0x00000100 }

enum	DesignProperty { e_guid , e_design_types , e_transform , e_bounding_box , e_selection_box , e_name , e_description , e_editable_description , e_creation_time , e_modified_time , e_asc_modified_time , e_desc_modified_time , e_bounds_modified_time , e_author , e_creation_software , e_3D_visible , e_tree_visible , e_icon , e_is_selected , e_is_focused , e_allow_interactions , e_file , e_search_terms , e_category , e_deletion_allowed , e_is_deleted , e_is_application_locked , e_is_application_owned , e_bounds_ignored , e_selection_ignored , e_meta_data , e_untranslated_string_data , e_translated_string_data , e_uncompressed_data , e_compressed_data , e_manager_visible , e_library_id , e_is_frozen , e_applied_filters , e_design_property_size }
	Values stored in the property database. More...

Signals inherited from OrientationSensor
void	calibrationChangedSignal ()

void	deploymentModeOptionsUpdatedSignal ()

void	driftRateUpdatedSignal ()

void	magnetometerCalibrationUpdatedSignal ()

Signals inherited from Device
void	onUpdated ()

Protected Member Functions inherited from OrientationSensor
virtual Vector< 3, Angle< fltp08 > >	lastOrientationAngle () const

Protected Member Functions inherited from Device
virtual void	showWarning (const Exception &warning) const

virtual void	showWarning (const TranslatedString &warning) const

Protected Member Functions inherited from Model
DesignObjectBase *	childBase () const

uint04	childToParentReference () const

DesignObjectBase *	parentBase () const

uint04	parentToChildReference () const

Protected Member Functions inherited from DesignObject
void	onNameChange (const String &new_name)

Static Protected Attributes inherited from Device
static DesignObjectLookup *	s_default_lookup

Detailed Description

Used to calculate madgick orientation given sensor streams for gyro and optionally magnetometer(s) and accelerometer(s)

Constructor & Destructor Documentation

◆ MadgwickOrientationSensor()

MadgwickOrientationSensor	(	const Model &	model,
		ProgressInfo *	log,
		QObject *	parent = nullptr )

Member Function Documentation

◆ angleFromQuaternion()

Vector< 3, Angle< fltp08 > > angleFromQuaternion ( const Quaternion< fltp08 > & quaternion ) const

◆ angularVelocity()

Angle< fltp08 > angularVelocity ( ) const

◆ collectRecentRecords()

bool collectRecentRecords	(	const Time &	cutoff_time,
		Buffer< IMU::Point, uint04, ObjectAllocator< false > > &	imu_points,
		const Time &	offset_time )

◆ getPacketGyroState()

sint02 getPacketGyroState ( ) const

◆ initialComputeMadgwick()

void initialComputeMadgwick	(	Vector< 3, fltp08 >	a,
		Vector< 3, fltp08 >	m,
		Quaternion< fltp08 > &	q,
		Time	time )

◆ orientationAt()

Matrix< fltp08 > orientationAt ( const Time & time ) const

◆ processAcceleration()

void processAcceleration	(	Ray< 3, fltp08 >	accel_data,
		const Time &	ts )

◆ processGyro()

void processGyro	(	Ray< 3, fltp08 >	gyro_data,
		const Time &	ts )

◆ processMadgwick()

void processMadgwick ( Time time )

◆ processQuaternion()

void processQuaternion	(	const Quaternion< fltp08 > &	quaternion,
		const Time &	ts )

◆ readyToSetupFrame()

bool readyToSetupFrame ( ) const

◆ requestGyroCalibration()

bool requestGyroCalibration ( )

overridevirtual

Reimplemented from OrientationSensor.

◆ reset()

void reset ( )

◆ setGyroState()

void setGyroState ( GyroState state )

◆ setPacketGyroState()

void setPacketGyroState ( sint02 state )

◆ setRequestGyroCallback()

void setRequestGyroCallback ( const std::function< void()> & callback )

inline

◆ setStoreReadings()

void setStoreReadings ( bool store_readings )

◆ supportsFixed()

bool supportsFixed ( ) const

inlineoverridevirtual

Reimplemented from OrientationSensor.

◆ supportsRodded()

bool supportsRodded ( ) const

inlineoverridevirtual

Reimplemented from OrientationSensor.

◆ updateFromQuaternion()

void updateFromQuaternion ( Time time )

◆ updateMadgwick()

static void updateMadgwick	(	Vector< 3, fltp08 >	g,
		Vector< 3, fltp08 >	a,
		Vector< 3, fltp08 >	m,
		Quaternion< fltp08 > &	q,
		TimeSpan	time_span,
		fltp08	beta )

static

Member Data Documentation

◆ m_accel

Vector<3, fltp08> m_accel = Constant<Vector<3, fltp08>>::Invalid

protected

◆ m_beta

fltp08 m_beta = 0.042

protected

◆ m_calibration_time

TimeSpan m_calibration_time = TimeSpan(5.0)

protected

◆ m_gyro

Vector<3, fltp08> m_gyro = Constant<Vector<3, fltp08>>::Invalid

protected

◆ m_gyro_calibration

Vector<3, fltp08> m_gyro_calibration = Vector<3, fltp08>(0.0)

protected

◆ m_historic_orientation

QueueBuffer<OrientationReading, uint04, ObjectAllocator<true, uint04> > m_historic_orientation

protected

◆ m_init_count

uint04 m_init_count = 0

protected

◆ m_last_timestamp

Time m_last_timestamp = Constant<Time>::Invalid

protected

◆ m_magnet

Vector<3, fltp08> m_magnet = Constant<Vector<3, fltp08>>::Invalid

protected

◆ m_prev_accel_data

Vector<3, fltp08> m_prev_accel_data = { 0,0,0 }

protected

◆ m_prev_accel_timestamp

Time m_prev_accel_timestamp = Time(0)

protected

◆ m_quaternion

Quaternion<fltp08> m_quaternion = Quaternion<fltp08>(1.0, 0.0, 0.0, 0.0)

protected

◆ m_request_gyro_callback

std::function<void()> m_request_gyro_callback

protected

◆ m_reset_gyro

bool m_reset_gyro = true

protected

◆ m_start_calibration_time

Time m_start_calibration_time = Constant<Time>::Invalid

protected

◆ m_store_readings

bool m_store_readings = false

protected

◆ m_theta_mtx

std::mutex m_theta_mtx

protected

◆ m_total_ts

TimeSpan m_total_ts

protected

◆ v_accel_data_sync

Buffer<Ray<3, fltp08> > v_accel_data_sync

protected

◆ v_gyro_data

Buffer<Ray<3, fltp08> > v_gyro_data

protected

◆ v_gyro_timestamp

Buffer<Time> v_gyro_timestamp

protected

◆ yaw_offset

Angle<fltp08> yaw_offset = Constant<Angle<fltp08>>::Invalid

protected

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

Hardware/Headers/MadgwickOrientationSensor.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MadgwickOrientationSensor()

Member Function Documentation

◆ angleFromQuaternion()

◆ angularVelocity()

◆ collectRecentRecords()

◆ getPacketGyroState()

◆ initialComputeMadgwick()

◆ orientationAt()

◆ processAcceleration()

◆ processGyro()

◆ processMadgwick()

◆ processQuaternion()

◆ readyToSetupFrame()

◆ requestGyroCalibration()

◆ reset()

◆ setGyroState()

◆ setPacketGyroState()

◆ setRequestGyroCallback()

◆ setStoreReadings()

◆ supportsFixed()

◆ supportsRodded()

◆ updateFromQuaternion()

◆ updateMadgwick()

Member Data Documentation

◆ m_accel

◆ m_beta

◆ m_calibration_time

◆ m_gyro

◆ m_gyro_calibration

◆ m_historic_orientation

◆ m_init_count

◆ m_last_timestamp

◆ m_magnet

◆ m_prev_accel_data

◆ m_prev_accel_timestamp

◆ m_quaternion

◆ m_request_gyro_callback

◆ m_reset_gyro

◆ m_start_calibration_time

◆ m_store_readings

◆ m_theta_mtx

◆ m_total_ts

◆ v_accel_data_sync

◆ v_gyro_data

◆ v_gyro_timestamp

◆ yaw_offset