imu_complementary_filter.h

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//
// Created by yezi on 2022/3/26.
//
 
#pragma once
 
#include "rm_common/filters/imu_filter_base.h"
#include <imu_complementary_filter/complementary_filter.h>
 
namespace rm_common
{
class ImuComplementaryFilter : public ImuFilterBase
{
public:
  ImuComplementaryFilter() = default;
  void getOrientation(double& q0, double& q1, double& q2, double& q3) override;
 
private:
  void filterUpdate(double ax, double ay, double az, double wx, double wy, double wz, double dt) override;
  bool initFilter(XmlRpc::XmlRpcValue& imu_data) override;
  void resetFilter() override;
  // Parameters:
  double gain_acc_;
  double gain_mag_;
  bool do_bias_estimation_;
  double bias_alpha_;
  bool do_adaptive_gain_;
  bool use_mag_;
  std::shared_ptr<imu_tools::ComplementaryFilter> filter_;
};
class ImuComplementaryFilter : public ImuFilterBase {…};
}  // namespace rm_common