EKF Class Reference

EKF implementation. More...

#include <EKF.h>

Detailed Description

EKF implementation.

Public Member Functions
void	update (const float *acc, const float *gyr)
	Update filter from measurements (usually from IMU.readSensors()) More...
const EulerState *	getEuler ()
	Get filtered Euler angles. More...

Protected Attributes
mat3	P
	Orientation.
vec3	w
	System covariance.

Inherits OrientationFilter.

Member Function Documentation

const EulerState * EKF::getEuler ( )

virtual

Get filtered Euler angles.

Returns

e->angles[] is a float[3] array of angles and, e->angRates[] of angular rates

Implements OrientationFilter.

void EKF::update ( const float *  acc, const float *  gyr  )

virtual

Update filter from measurements (usually from IMU.readSensors())

Parameters

acc	Measured acc
gyr	Measured gyr

Implements OrientationFilter.

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

• EKF.h
• EKF.cpp