ROME2 Lab7
TiltAngle Class Reference
This class determines the IMU's tilt angle around the x-axis. More...
#include <TiltAngle.h>
Public Member Functions | |
| TiltAngle (IMU &imu) | |
| Creates a TiltAngle object. | |
| virtual | ~TiltAngle () |
| Deletes the TiltAngle object. | |
| float | readTiltAngleA () |
| Reads the tilt angle around the x-axis, calculated from accelerometer readings. | |
| float | readTiltAngleG () |
| Reads the tilt angle around the x-axis, integrated from gyro readings. | |
| float | readTiltAngleK () |
| Reads the tilt angle around the x-axis, obtained with a Kalman filter. | |
| float | readTiltAngleC () |
| Reads the tilt angle around the x-axis, obtained with a complementary filter. | |
Detailed Description
This class determines the IMU's tilt angle around the x-axis.
Definition at line 18 of file TiltAngle.h.
Constructor & Destructor Documentation
Creates a TiltAngle object.
- Parameters:
-
imu a reference to the IMU to use.
Definition at line 26 of file TiltAngle.cpp.
| ~TiltAngle | ( | ) | [virtual] |
Deletes the TiltAngle object.
Definition at line 59 of file TiltAngle.cpp.
Member Function Documentation
| float readTiltAngleA | ( | ) |
Reads the tilt angle around the x-axis, calculated from accelerometer readings.
- Returns:
- the tilt angle, given in [rad].
Definition at line 68 of file TiltAngle.cpp.
| float readTiltAngleC | ( | ) |
Reads the tilt angle around the x-axis, obtained with a complementary filter.
- Returns:
- the tilt angle, given in [rad].
Definition at line 95 of file TiltAngle.cpp.
| float readTiltAngleG | ( | ) |
Reads the tilt angle around the x-axis, integrated from gyro readings.
- Returns:
- the tilt angle, given in [rad].
Definition at line 77 of file TiltAngle.cpp.
| float readTiltAngleK | ( | ) |
Reads the tilt angle around the x-axis, obtained with a Kalman filter.
- Returns:
- the tilt angle, given in [rad].
Definition at line 86 of file TiltAngle.cpp.
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