2 * Copyright (C) 2011 The Android Open Source Project
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
17 #ifndef ANDROID_FUSION_H
18 #define ANDROID_FUSION_H
20 #include <utils/Errors.h>
28 typedef mat<float, 3, 4> mat34_t;
32 * the state vector is made of two sub-vector containing respectively:
33 * - modified Rodrigues parameters
34 * - the estimated gyro bias
40 * the predicated covariance matrix is made of 4 3x3 sub-matrices and it is
41 * semi-definite positive.
43 * P = | P00 P10 | = | P00 P10 |
44 * | P01 P11 | | P10t P11 |
46 * Since P01 = transpose(P10), the code below never calculates or
52 * the process noise covariance matrix
54 mat<mat33_t, 2, 2> GQGt;
59 void handleGyro(const vec3_t& w, float dT);
60 status_t handleAcc(const vec3_t& a);
61 status_t handleMag(const vec3_t& m);
62 vec4_t getAttitude() const;
63 vec3_t getBias() const;
64 mat33_t getRotationMatrix() const;
65 bool hasEstimate() const;
68 mat<mat33_t, 2, 2> Phi;
74 enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
75 bool checkInitComplete(int, const vec3_t& w, float d = 0);
76 void initFusion(const vec4_t& q0, float dT);
78 void predict(const vec3_t& w, float dT);
79 void update(const vec3_t& z, const vec3_t& Bi, float sigma);
80 static mat34_t getF(const vec4_t& p);
83 }; // namespace android
85 #endif // ANDROID_FUSION_H