compass_calibrator_3D Class Reference

3 dimensional magnetic calibration and error compensation mechanism More...

#include <compass_calibrator_3D.h>

Public Types
enum	{ AXES =3 , PARAMETERS =11 , OBSERVATIONS =22 }

Public Member Functions
	compass_calibrator_3D (void)
void	start_learning (void)
bool	learn (const float3vector &observed_induction, const float3vector &expected_induction, const quaternion< float > &q, bool turning_right, float error_margin)
float3vector	calibrate (const float3vector &induction, const quaternion< float > &q)
bool	calculate (void)
bool	available (void) const

Detailed Description

3 dimensional magnetic calibration and error compensation mechanism

Definition at line 34 of file compass_calibrator_3D.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
AXES
PARAMETERS
OBSERVATIONS

Definition at line 37 of file compass_calibrator_3D.h.

Constructor & Destructor Documentation

compass_calibrator_3D()

compass_calibrator_3D::compass_calibrator_3D ( void  )

inline

Definition at line 39 of file compass_calibrator_3D.h.

References start_learning().

Member Function Documentation

available()

bool compass_calibrator_3D::available ( void  ) const

inline

Definition at line 54 of file compass_calibrator_3D.h.

Referenced by AHRS_type::update_ACC_only(), and AHRS_type::update_compass().

calculate()

bool compass_calibrator_3D::calculate

(

void

)

Definition at line 75 of file compass_calibrator_3D.cpp.

References assert, AXES, OBSERVATIONS, PARAMETERS, and start_learning().

calibrate()

float3vector compass_calibrator_3D::calibrate	(	const float3vector &	induction,
		const quaternion< float > &	q
	)

Definition at line 162 of file compass_calibrator_3D.cpp.

Referenced by AHRS_type::update_ACC_only(), and AHRS_type::update_compass().

learn()

bool compass_calibrator_3D::learn	(	const float3vector &	observed_induction,
		const float3vector &	expected_induction,
		const quaternion< float > &	q,
		bool	turning_right,
		float	error_margin
	)

Definition at line 38 of file compass_calibrator_3D.cpp.

References AXES, M_PI_F, OBSERVATIONS, RECIP_SECTOR_SIZE, and TWO.

start_learning()

void compass_calibrator_3D::start_learning ( void  )

inline

Definition at line 45 of file compass_calibrator_3D.h.

References OBSERVATIONS.

Referenced by calculate(), and compass_calibrator_3D().

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

• lib/NAV_Algorithms/compass_calibrator_3D.h
• lib/NAV_Algorithms/compass_calibrator_3D.cpp