thirdparty/RTIMULib/RTIMULib/RTFusionRTQF.h

////////////////////////////////////////////////////////////////////////////
//
//  This file is part of RTIMULib
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#ifndef _RTFUSIONRTQF_H
#define	_RTFUSIONRTQF_H

#include "RTFusion.h"

class RTFusionRTQF : public RTFusion
{
public:
    RTFusionRTQF();
    ~RTFusionRTQF();

    //  fusionType returns the type code of the fusion algorithm

    virtual int fusionType() { return RTFUSION_TYPE_RTQF; }

    //  reset() resets the state but keeps any setting changes (such as enables)

    void reset();

    //  newIMUData() should be called for subsequent updates
    //  deltaTime is in units of seconds

    void newIMUData(RTIMU_DATA& data, const RTIMUSettings *settings);

private:
    void predict();
    void update();

    RTVector3 m_gyro;										// unbiased gyro data
    RTFLOAT m_timeDelta;                                    // time between predictions

    RTQuaternion m_stateQ;									// quaternion state vector
    RTQuaternion m_stateQError;                             // difference between stateQ and measuredQ

    int m_sampleNumber;
};

#endif // _RTFUSIONRTQF_H