Lines Matching refs:Fusion
21 #include "Fusion.h"
71 * Values of the field smaller than this should be ignored in fusion to avoid
158 Fusion::Fusion() {
176 void Fusion::init() {
188 void Fusion::initFusion(const vec4_t& q, float dT)
225 bool Fusion::hasEstimate() const {
229 bool Fusion::checkInitComplete(int what, const vec3_t& d, float dT) {
274 void Fusion::handleGyro(const vec3_t& w, float dT) {
281 status_t Fusion::handleAcc(const vec3_t& a) {
295 status_t Fusion::handleMag(const vec3_t& m) {
334 void Fusion::checkState() {
335 // P needs to stay positive semidefinite or the fusion diverges. When we
336 // detect divergence, we reset the fusion.
341 ALOGW("Sensor fusion diverged; resetting state.");
346 vec4_t Fusion::getAttitude() const {
350 vec3_t Fusion::getBias() const {
354 mat33_t Fusion::getRotationMatrix() const {
358 mat34_t Fusion::getF(const vec4_t& q) {
372 void Fusion::predict(const vec3_t& w, float dT) {
433 void Fusion::update(const vec3_t& z, const vec3_t& Bi, float sigma) {
