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src/AHRS/Adafruit_AHRS_FusionInterface.h

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+/*!
+ * @file Adafruit_AHRS_FusionInterface.h
+ *
+ * @section license License
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Ha Thach (tinyusb.org) for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef ADAFRUIT_AHRS_FUSIONINTERFACE_H_
+#define ADAFRUIT_AHRS_FUSIONINTERFACE_H_
+
+/*!
+ * @brief The common interface for the fusion algorithms.
+ */
+class Adafruit_AHRS_FusionInterface {
+public:
+  /**************************************************************************/
+  /*!
+   * @brief Initializes the sensor fusion filter.
+   *
+   * @param sampleFrequency The sensor sample rate in herz(samples per second).
+   */
+  /**************************************************************************/
+  virtual void begin(float sampleFrequency) = 0;
+
+  /**************************************************************************/
+  /*!
+   * @brief Updates the filter with new gyroscope, accelerometer, and
+   * magnetometer data.
+   *
+   * @param gx The gyroscope x axis. In DPS.
+   * @param gy The gyroscope y axis. In DPS.
+   * @param gz The gyroscope z axis. In DPS.
+   * @param ax The accelerometer x axis. In g.
+   * @param ay The accelerometer y axis. In g.
+   * @param az The accelerometer z axis. In g.
+   * @param mx The magnetometer x axis. In uT.
+   * @param my The magnetometer y axis. In uT.
+   * @param mz The magnetometer z axis. In uT.
+   */
+  /**************************************************************************/
+  virtual void update(float gx, float gy, float gz, float ax, float ay,
+                      float az, float mx, float my, float mz, float dt) = 0;
+
+  /**************************************************************************/
+  /*!
+   * @brief Gets the current roll of the sensors.
+   *
+   * @return The current sensor roll.
+   */
+  /**************************************************************************/
+  virtual float getRoll() = 0;
+
+  /**************************************************************************/
+  /*!
+   * @brief Gets the current pitch of the sensors.
+   *
+   * @return The current sensor pitch.
+   */
+  /**************************************************************************/
+  virtual float getPitch() = 0;
+
+  /**************************************************************************/
+  /*!
+   * @brief Gets the current yaw of the sensors.
+   *
+   * @return The current sensor yaw.
+   */
+  /**************************************************************************/
+  virtual float getYaw() = 0;
+  virtual void getQuaternion(float *w, float *x, float *y, float *z) = 0;
+  virtual void setQuaternion(float w, float x, float y, float z) = 0;
+
+  /**************************************************************************/
+  /*!
+   * @brief Gets the current gravity vector of the sensor.
+   *
+   * @param x A float pointer to write the gravity vector x component to. In g.
+   * @param y A float pointer to write the gravity vector y component to. In g.
+   * @param z A float pointer to write the gravity vector z component to. In g.
+   */
+  virtual void getGravityVector(float *x, float *y, float *z) = 0;
+};
+
+#endif /* ADAFRUIT_AHRS_FUSIONINTERFACE_H_ */