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| Integrator (uint32_t auto_reset_interval=4000, bool coning_compensation=false) |
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| Integrator (const Integrator &)=delete |
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Integrator & | operator= (const Integrator &)=delete |
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| Integrator (Integrator &&)=delete |
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Integrator & | operator= (Integrator &&)=delete |
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| bool | put (const uint64_t ×tamp, const matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt) |
| | Put an item into the integral. More...
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| bool | put_with_interval (unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt) |
| | Put an item into the integral but provide an interval instead of a timestamp. More...
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| matrix::Vector3f | get (bool reset, uint32_t &integral_dt) |
| | Get the current integral and reset the integrator if needed. More...
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| matrix::Vector3f | get_and_filtered (bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val) |
| | Get the current integral and reset the integrator if needed. More...
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| void | set_autoreset_interval (uint32_t auto_reset_interval) |
| | Set auto reset interval during runtime. More...
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§ get()
| matrix::Vector3f Integrator::get |
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bool |
reset, |
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uint32_t & |
integral_dt |
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Get the current integral and reset the integrator if needed.
- Parameters
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| reset | Reset the integral to zero. |
| integral_dt | Get the dt in us of the current integration (only if reset). |
- Returns
- the integral since the last read-reset
§ get_and_filtered()
| matrix::Vector3f Integrator::get_and_filtered |
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bool |
reset, |
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uint32_t & |
integral_dt, |
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matrix::Vector3f & |
filtered_val |
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Get the current integral and reset the integrator if needed.
Additionally give the integral over the samples differentiated by the integration time (mean filtered values).
- Parameters
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| reset | Reset the integral to zero. |
| integral_dt | Get the dt in us of the current integration (only if reset). |
| filtered_val | The integral differentiated by the integration time. |
- Returns
- the integral since the last read-reset
§ put()
| bool Integrator::put |
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const uint64_t & |
timestamp, |
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const matrix::Vector3f & |
val, |
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matrix::Vector3f & |
integral, |
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uint32_t & |
integral_dt |
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Put an item into the integral.
- Parameters
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| timestamp | Timestamp of the current value. |
| val | Item to put. |
| integral | Current integral in case the integrator did reset, else the value will not be modified |
| integral_dt | Get the dt in us of the current integration (only if reset). |
- Returns
- true if putting the item triggered an integral reset and the integral should be published.
§ put_with_interval()
| bool Integrator::put_with_interval |
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unsigned |
interval_us, |
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matrix::Vector3f & |
val, |
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matrix::Vector3f & |
integral, |
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uint32_t & |
integral_dt |
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Put an item into the integral but provide an interval instead of a timestamp.
- Parameters
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| interval_us | Interval in us since last integration. |
| val | Item to put. |
| integral | Current integral in case the integrator did reset, else the value will not be modified |
| integral_dt | Get the dt in us of the current integration (only if reset). Note that this values might not be accurate vs. hrt_absolute_time because it is just the sum of the supplied intervals. |
- Returns
- true if putting the item triggered an integral reset and the integral should be published.
§ set_autoreset_interval()
| void Integrator::set_autoreset_interval |
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uint32_t |
auto_reset_interval | ) |
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Set auto reset interval during runtime.
This won't reset the integrator.
- Parameters
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| auto_reset_interval | New reset time interval for the integrator (+- 10%). |
The documentation for this class was generated from the following files:
