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

#include <MadgwikOrientationSensor.h>

Inheritance diagram for MadgwikOrientationSensor:

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Collaboration diagram for MadgwikOrientationSensor:

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

bool	readyToSetupFrame () const

sint02	getPacketGyroState () const

void	reset ()

void	setGyroState (GyroState state)

void	setPacketGyroState (sint02 state)

void	setStoreReadings (bool store_readings)

bool	supportsFixed () const override

bool	supportsRodded () const override

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

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

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

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

bool	requestGyroCalibration () override

void	processMadgwick (Time time)

void	updateFromQuaternion (Time time)

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

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

Angle< fltp08 >	angularVelocity () const

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

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

virtual Time	getGyroCalibrationTime () const

virtual MagnetometerState	magnetometerState () const

virtual GyroState	gyroState () const

virtual Matrix< fltp08 >	lastOrientation () const

virtual bool	usingAccelerometer () const

virtual bool	usingCompass () const

virtual bool	usingGyro () const

virtual bool	isGyroUpdating () const

virtual bool	hasLockedYaw () const

virtual bool	hasLockedRoll () const

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

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

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

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

virtual bool	isLocked () const

virtual TranslatedString	calibrationMessage () const

void	checkForSetMagneticDeclination ()

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

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

virtual bool	requestAccelerationBiasLimit (fltp04 bias_limit)

virtual bool	requestUsingAccelerometer (bool using_accelerometer)

virtual Ray< 3, fltp08 >	calibratedMagnetometerVector () const

virtual Ray< 3, fltp08 >	rawMagnetometerVector () const

virtual Angle< fltp08 >	compassAngle () const

virtual bool	requestUsingCompass (bool using_compass)

virtual bool	requestUsingGyro (bool using_gyro, bool reset_state)

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

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

virtual bool	supportsModes () const

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

virtual void	setCalibrator (IMUCalibrator *imu_calibrator)

virtual MagneticCalibrationData *	magnetometerCalibrationObject ()

virtual bool	requestMagnetometerCalibration (bool)

virtual bool	requestApplyMagnetometerCalibration ()

virtual bool	needsMagnetometerCalibration () const

virtual bool	hasCalibratedDrift () const

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

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

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

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

void	setCalibrationOffset (const Matrix< fltp08 > &offset)

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

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

fltp04	calibrationPercent () const

virtual void	clearCurrentDrift ()

IMUCalibrator *	calibrator () const

virtual Ray< 3, fltp08 >	referenceDirection () const

virtual UUID	calibrationID () const

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

virtual void	setLog (ProgressInfo *log)

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

virtual void	update ()

virtual TimeSpan	updateInterval () const

virtual void	endUpdates ()

ProgressInfo *	deviceLog () const

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

void	startAutoUpdate (DesignObjectLookup *lookup=nullptr)

void	stopAutoUpdate (DesignObjectLookup *lookup=nullptr)

Public Member Functions inherited from Model
	Model ()

	Model (DesignObjectBase *base)

	Model (uint04 index, DesignObjectBase *base)

	Model (const DesignObject &obj)

bool	isSelected () const

bool	isApplicationOwned () const

bool	isVisible () const

bool	isTreeVisible () const

bool	hasFocus () const

bool	exportIgnored () const

TranslatedString	displayName () const

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

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

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

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

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

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

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

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

void	restoreModel ()

void	eraseModel ()

void	deleteModel (bool delete_children, bool remove_from_parent=true)

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

bool	canExplode () const

bool	isOfType (const String &type) const

bool	isOfType (const char *type) const

Model	createChild ()

Model	createChild (uint04 child_slot)

void	createChildren (uint04 child_size)

Model	createSceneModel () const

Model	createSceneLayer () const

Model	getSceneModel (UUID id) const

Model	getSceneLayer (UUID id) const

void	addChild (Model &child)

void	addChild (uint04 child_index)

void	swapChildren (uint04 a, uint04 b)

void	setParentMatrixFlags (BitFlag flags)

void	setParentMatrixFlag (ParentMatrixFlags flag, bool value)

BitFlag	parentMatrixFlags () const

Model	getParent () const

uint04	getParentIndex () const

RGBColor	customModelColor (ModelColorMode mode) const

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

void	setTransform (const Matrix< fltp08 > &transform)

String	getModelIcon () const

Effect	createChildEffect ()

Geometry	createChildGeometry ()

void	setGeometryChild (uint04 geo_index)

void	setGeometryChild (const Geometry &geo)

void	updateVisible (bool is_visible)

void	updateVisibleRecursive (bool is_visible)

Buffer< GeometryType >	descendentGeometryTypes () const

bool	hasGeometryDescendent () const

bool	hasMeshDescendent () const

bool	hasLinearDescendent () const

bool	hasPointsDescendent () const

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

MaterialMode	getMaterialMode (PrimitiveProperty property) const

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

void	setMaterialMode (PrimitiveProperty property, MaterialMode option)

Material	createChildMaterial (bool copy_child=false)

Material	createChildMaterial (PrimitiveProperty property, bool copy_child=false)

void	clearMaterialDescendents ()

void	overrideMaterialDescendents (PrimitiveProperty property, MaterialMode override_desc)

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

void	setMaterial (PrimitiveProperty property, uint04 material_index)

void	setMaterial (uint04 material_index)

void	setMaterial (PrimitiveProperty property, const Material &material)

void	setMaterial (const Material &material)

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

void	checkBounds ()

Effect	createSceneEffect () const

void	setIsLayer (bool is_layer)

bool	isLayer () const

bool	hasLayer () const

bool	hasDirectLayer () const

Model	getLayer () const

uint04	getDirectLayerIndex () const

Vertex< 3, fltp08 >	globalCenterOfRotation () const

bool	isLocked () const

bool	canInteract () const

bool	hasSelectedDescendent () const

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

void	updateAscTime (const Time &time, bool include_self)

void	updateDescTime (const Time &time, bool include_self)

void	setLayer (Model layer)

void	clearLayer ()

uint04	getChildIndex () const

uint04	getChildLayerIndex () const

void	setChildIndex (uint04 child, uint04 id)

Model	getChild (uint04 child) const

uint04	getChildIndex (uint04 child) const

bool	hasChild (uint04 child_index) const

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

Buffer< UUID >	getChildrenIDs () const

Buffer< uint04 >	getChildIndices () const

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

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

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

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

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

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

uint04	childCount () const

uint04	getNumOfEffects () const

bool	hasEffect (uint04 index=0) const

Effect	getSceneEffect (UUID id) const

Geometry	getGeometry () const

Geometry	getSceneGeometry (uint04 index) const

Geometry	getSceneGeometry (UUID id) const

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

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

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

void	removeGeometry ()

bool	hasMaterial () const

bool	hasMaterial (PrimitiveProperty property) const

Material	getMaterial (PrimitiveProperty property) const

Material	getSceneMaterial (uint04 index) const

Material	getRootMaterial (PrimitiveProperty property) const

Material	getSceneMaterial (UUID id) const

bool	hasLayerRootMaterial (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

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

void	removeMaterial (const Material &material)

void	removeMaterial (PrimitiveProperty property)

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

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

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

Effect	getEffect (uint04 index=0) const

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

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

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

void	clearChildren ()

void	removeChild (const Model &model)

uint04	visibleVertexCount () const

uint04	vertexCount () const

Model	getFamilyMember (uint04 index) const

Model	findDescendentByName (const String &name) const

Model	findDescendentByType (const String &type) const

bool	hasDescendent (const Model &model) const

bool	hasDescendent (const UUID &id) const

void	setWindingMode (WindingMode mode)

Matrix< fltp08 >	getCompleteTransform () const

Matrix< fltp08 >	getParentTransform () const

Bounds< 3, fltp08 >	getBounds () const

Bounds< 3, fltp08 >	globalBounds () const

Bounds< 3, fltp08 >	globalSelectionBounds () const

Bounds< 3, fltp08 >	getBoundsOfVisible () const

Bounds< 3, fltp08 >	getSelectionBounds () const

Vector< 3, fltp08 >	size () const

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

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

Time	getDescModifiedTime (bool include_self) const

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

Vertex< 3, fltp08 >	centerAlignModel ()

void	calculateIndexNeighborList ()

void	updateFrom (const Model &model, bool check_resources)

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

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

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

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

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

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

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

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

bool	isDeleted () const

bool	hasHoles (PrimitiveProperty property) const

void	calculateTangentSpace (bool calc_tan, bool calc_bitan)

void	addPerVertexColorFromMaterialConstant (UVType constant_index)

bool	isScene () const

void	validate (bool validate_children=true) const

void	invalidateBounds ()

void	invalidateVisibleBounds ()

void	invalidateGlobalBoundsAsc ()

void	invalidateGlobalBoundsDesc ()

void	invalidateTransformCache ()

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

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

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

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

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

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

uint04	getGeometryIndex () const

uint04	getMaterialIndex (PrimitiveProperty property) const

uint04	getEffectIndex (uint04 child_index=0) const

Vector< 32, bool >	inheritedFlags () const

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

Vector< 32, bool >	inheritedPersonalFlagsNoCache () const

Vector< 32, bool >	personalInheritedFlags () const

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

Model	getRootMaterialModel (PrimitiveProperty property)

BitFlag	descendedFlags () const

void	updateDescendedFlagsCache (bool force_update_all=false)

BitFlag	descendedPersonalFlagsNoCache () const

BitFlag	personalDescendedFlags () const

BitFlag	descendedFlagsNoCache (bool complete_cache_ignore) const

	operator bool () const

Geometry	createSceneGeometry () const

Material	createSceneMaterial () const

Public Member Functions inherited from DesignObject
	DesignObject ()=default

	DesignObject (DesignObjectBase *base)

	DesignObject (uint04 index, DesignObjectBase *base)

void	setDesignType (DesignObjectType mode, bool is_type)

bool	isDesignType (DesignObjectType mode) const

bool	isDesignType (uint04 mode) const

bool	validateDesignObject () const

JSONNode	activeFilters () const

void	setActiveFilters (const JSONNode &node)

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

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

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

File	file () const

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

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

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

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

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

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

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

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

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

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

String	getIcon () const

uint04	getDesignParentIndex () const

Time	getModifiedTime () const

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

void	updateCreatedTime ()

void	copyFrom (const DesignObject &object)

void	actionDeletedIndex (uint04 index, uint04 size)

void	addIndex (uint04 index, uint04 size)

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

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

bool	hasMetaData (const String &index) const

const JSONNode &	metaData (const String &index) const

const JSONNode &	metaData () const

void	setMetaData (const JSONNode &node)

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

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

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

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

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

void	clearMetaData (const String &index)

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

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

void	appendData (const String &data, bool compressed)

uint04	index () const

uint04	designIndex () const

const DynamicPointer< Table > &	propertyTable () const

DynamicPointer< Table > &	propertyTable ()

bool	operator== (const DesignObject &model) const

bool	operator!= (const DesignObject &model) const

bool	operator< (const DesignObject &model) const

bool	operator> (const DesignObject &model) const

	operator bool () const

DesignObjectBase &	base () const

UUID	uuid () const

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

void	setDesignVisible (bool is_visible)

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

Matrix< fltp08 >	getTransform () const

bool	isValid () const

Scene	getScene () 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
std::function< void()>	m_request_gyro_callback

Buffer< Ray< 3, fltp08 > >	v_accel_data_sync

Buffer< Time >	v_gyro_timestamp

Buffer< Ray< 3, fltp08 > >	v_gyro_data

Time	m_prev_accel_timestamp = Time(0)

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

std::mutex	m_theta_mtx

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

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

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

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

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

TimeSpan	m_total_ts

Time	m_start_calibration_time = Constant<Time>::NaN

TimeSpan	m_calibration_time = TimeSpan(5.0)

fltp08	m_beta = 0.042

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

Time	m_last_timestamp = Constant<Time>::NaN

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

bool	m_reset_gyro = true

bool	m_store_readings = false

uint04	m_init_count = 0

Protected Attributes inherited from OrientationSensor
Ray< 3, fltp08 >	m_calibrated_magnetomer_vector = Constant<Ray<3, fltp08>>::NaN

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

Vector< 3, Angle< fltp08 > >	m_tilt_angle

Vector< 3, Angle< fltp08 > >	m_device_specified_offsets

Vector< 3, Angle< fltp08 > >	m_user_specified_offsets

Matrix< fltp08 >	m_calibration_offset

Vector< 3, Angle< fltp08 > >	m_angle_drift_rate

Time	m_angle_drift_start_time

Time	m_calibration_time

fltp04	m_calibration_percent

Angle< fltp08 >	m_roll_lock

Angle< fltp08 >	m_yaw_lock

Angle< fltp08 >	m_roll_lock_reference_yaw

IMUCalibrator *	m_imu_calibrator = nullptr

UUID	m_calibration_id

GyroState	m_gyro_state

MagnetometerState	m_magnetometer_state

AccelerometerState	m_acceleromter_state

bool	m_using_gyro = false

bool	m_using_compass = false

bool	m_using_accelerometer = false

bool	m_is_gyro_updating = false

bool	m_is_locked = false

bool	m_has_calibrated_drift = false

bool	m_gyro_calibration_requested = false

Protected Attributes inherited from Device
ProgressInfo *	m_log

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

Protected Attributes inherited from DesignObject
UUID	m_uuid = Constant<UUID>::NaN

uint04	m_index = Constant<uint04>::NaN

uint04	m_design_index = Constant<uint04>::NaN

DesignObjectBase *	m_base = nullptr

Additional Inherited Members
Public Types inherited from Model
enum class	MaterialMode { e_by_parent , e_by_layer , e_custom , e_hidden }

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 }

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	DescendedFlags { e_descendent_selected = 0 , e_descendent_focussed = 1 , e_descendent_deletion_blocked = 2 }

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 class	ModelColorMode { e_direct , e_by_selectable_children , e_by_material_root , e_by_layer }

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 }

Signals inherited from OrientationSensor
void	driftRateUpdatedSignal ()

void	magnetometerCalibrationUpdatedSignal ()

void	deploymentModeOptionsUpdatedSignal ()

void	calibrationChangedSignal ()

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 TranslatedString &warning) const

virtual void	showWarning (const Exception &warning) const

Protected Member Functions inherited from Model
Model	getRootMaterialModel (PrimitiveProperty property, const Model &value_to_return, bool allow_layer) const

Vertex< 3, fltp08 >	_center ()

Bounds< 3, fltp08 >	_bounds (bool use_selection_bounds, bool get_global) const

void	setChildEffectSize (uint04 child_size)

void	setChildSize (uint04 child_size)

void	setGeometryIndex (uint04 geo_index)

void	setMaterialIndex (PrimitiveProperty property, uint04 material_index)

void	setMaterialIndex (uint04 material_index)

void	setEffectIndex (uint04 material_index, uint04 sub_index=0)

void	setPersonalInheritedFlags (const Vector< 32, bool > &flags)

void	setPersonalInheritedFlag (InheritedFlags flag, bool value)

void	_copyFrom (const Model &model, bool deep_copy, bool copy_ids, bool recursive_copy, Dictionary< UUID, DesignObject > &copy_to_index, bool is_root_copy)

uint04	childToParentReference () const

uint04	parentToChildReference () const

DesignObjectBase *	childBase () const

DesignObjectBase *	parentBase () const

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

Static Protected Attributes inherited from Device
static DesignObjectLookup *	s_default_lookup = nullptr

Detailed Description

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

Class: MadgwikOrientationSensor

\ingroup Hardware Magnetometer Orientation Gyro Accelerometer

Constructor & Destructor Documentation

◆ MadgwikOrientationSensor()

MadgwikOrientationSensor	(	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

◆ 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()

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>>::NaN

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>>::NaN

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>::NaN

protected

◆ m_magnet

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

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>::NaN

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>>::NaN

protected

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

Hardware/Headers/MadgwikOrientationSensor.h
Hardware/Source/MadgwikOrientationSensor.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

\ingroup Hardware Magnetometer Orientation Gyro Accelerometer

Constructor & Destructor Documentation

◆ MadgwikOrientationSensor()

Member Function Documentation

◆ angleFromQuaternion()

◆ angularVelocity()

◆ 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