--- /dev/null
+# C language
+
+# Prerequisites
+*.d
+!init.d
+!rules.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+# Doxygen generated Doc
+html/
+latex/
+man/
+
+# Backup files
+*~
+*.bak
--- /dev/null
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
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+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
--- /dev/null
+DIRS=lib test #doc
+
+all:
+ for i in $(DIRS); do $(MAKE) -C $$i; done
+
+check:
+ for i in $(DIRS); do $(MAKE) -C $$i check; done
+
+clean:
+ for i in $(DIRS); do $(MAKE) -C $$i clean; done
+ $(MAKE) -C doc clean
+ rm -rf *~ *.bak
+
+mrproper:
+ for i in $(DIRS); do $(MAKE) -C $$i mrproper; done
+ $(MAKE) -C doc mrproper
+ rm -rf *~ *.bak
+
+configure:
+ for i in $(DIRS); do $(MAKE) -C $$i configure; done
+
+distclean:
+ for i in $(DIRS); do $(MAKE) -C $$i distclean; done
+ $(MAKE) -C doc distclean
+ rm -rf *~ *.bak
+
+install:
+ for i in $(DIRS); do $(MAKE) -C $$i install; done
+
+uninstall:
+ for i in $(DIRS); do $(MAKE) -C $$i uninstall; done
+
+unpack:
+ for i in $(DIRS); do $(MAKE) -C $$i unpack; done
+
+upload:
+ for i in $(AICDIRS); do $(MAKE) -C $$i upload; done
+
+.PHONY: doc
+doc:
+ $(MAKE) -C doc
--- /dev/null
+# Doxyfile 1.3.7
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+# TAG = value [value, ...]
+# For lists items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME = "IMU Fusion Library"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER = "0.0.0"
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = .
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 2 levels of 10 sub-directories under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of source
+# files, where putting all generated files in the same directory would otherwise
+# cause performance problems for the file system.
+
+CREATE_SUBDIRS = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch,
+# Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en
+# (Japanese with English messages), Korean, Korean-en, Norwegian, Polish, Portuguese,
+# Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish, and Ukrainian.
+
+OUTPUT_LANGUAGE = English
+
+# This tag can be used to specify the encoding used in the generated output.
+# The encoding is not always determined by the language that is chosen,
+# but also whether or not the output is meant for Windows or non-Windows users.
+# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES
+# forces the Windows encoding (this is the default for the Windows binary),
+# whereas setting the tag to NO uses a Unix-style encoding (the default for
+# all platforms other than Windows).
+
+USE_WINDOWS_ENCODING = NO
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is used
+# as the annotated text. Otherwise, the brief description is used as-is. If left
+# blank, the following values are used ("$name" is automatically replaced with the
+# name of the entity): "The $name class" "The $name widget" "The $name file"
+# "is" "provides" "specifies" "contains" "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited
+# members of a class in the documentation of that class as if those members were
+# ordinary class members. Constructors, destructors and assignment operators of
+# the base classes will not be shown.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH = ..
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful is your file systems
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like the Qt-style comments (thus requiring an
+# explicit @brief command for a brief description.
+
+JAVADOC_AUTOBRIEF = YES
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the DETAILS_AT_TOP tag is set to YES then Doxygen
+# will output the detailed description near the top, like JavaDoc.
+# If set to NO, the detailed description appears after the member
+# documentation.
+
+DETAILS_AT_TOP = YES
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC = YES
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE = 8
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources
+# only. Doxygen will then generate output that is more tailored for Java.
+# For instance, namespaces will be presented as packages, qualified scopes
+# will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING = YES
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# users are advised to set this option to NO.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME = YES
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR = YES
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT = . \
+ ../include
+
+
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp
+# *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm
+
+FILE_PATTERNS = *.dox *.h *.hpp
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories
+# that are symbolic links (a Unix filesystem feature) are excluded from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+
+EXCLUDE_PATTERNS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH = .
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output.
+
+INPUT_FILTER =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES (the default)
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES (the default)
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = YES
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = ./html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# stylesheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET =
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compressed HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
+# generated containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
+# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
+# probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW = YES
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = YES
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader. This is useful
+# if you want to understand what is going on. On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = YES
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_PREDEFINED tags.
+
+EXPAND_ONLY_PREDEF = YES
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed.
+
+PREDEFINED = __cplusplus
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line, have an all uppercase name, and do not end with a semicolon. Such
+# function macros are typically used for boiler-plate code, and will confuse the
+# parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base or
+# super classes. Setting the tag to NO turns the diagrams off. Note that this
+# option is superseded by the HAVE_DOT option below. This is only a fallback. It is
+# recommended to install and use dot, since it yields more powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = YES
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK = NO
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will
+# generate a call dependency graph for every global function or class method.
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command.
+
+CALL_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found on the path.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS =
+
+# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_WIDTH = 1024
+
+# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_HEIGHT = 1024
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes that
+# lay further from the root node will be omitted. Note that setting this option to
+# 1 or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that a graph may be further truncated if the graph's image dimensions are
+# not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH and MAX_DOT_GRAPH_HEIGHT).
+# If 0 is used for the depth value (the default), the graph is not depth-constrained.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES
+
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine
+#---------------------------------------------------------------------------
+
+# The SEARCHENGINE tag specifies whether or not a search engine should be
+# used. If set to NO the values of all tags below this one will be ignored.
+
+SEARCHENGINE = NO
--- /dev/null
+all: html
+
+html: html/index.html
+
+html/index.html: Doxyfile
+ doxygen
+
+clean:
+ rm -rf *~
+
+distclean: clean
+ rm -rf html
--- /dev/null
+/******************************************************************************
+ IMU Fusion Library
+ BNO55 Abstraction
+ Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+/** @file bno055.hpp
+ @brief BNO055 abstraction.
+ @author Walter Fetter Lages <w.fetter@ieee.org>
+*/
+
+#ifndef __IMUFUSION_BNO055_H__
+#define __IMUFUSION_BNO055_H__
+
+#include <stdint.h>
+
+#include <bno055.h>
+
+#include <imu.hpp>
+
+namespace imufusion
+{
+
+/** @brief BNO055 Abstraction.
+*/
+class Bno055: public Imu
+{
+ private:
+ struct bno055_t bno055_; ///< BNO055_driver handle.
+ char interface_; ///< Interface type: 'i' for I2C, 't" for UART.
+
+ /** @brief Initialize Bno055
+ */
+ void init(void);
+
+ public:
+ /** @brief Constructor of Bno055 for I2C interface.
+ */
+ Bno055(const char *device,uint8_t devAddr);
+
+ /** @brief Constructor of Bno055 for UART interface.
+ */
+ Bno055(const char *device);
+
+ /** @brief Destructor of Bno055.
+ */
+ ~Bno055(void);
+
+ /** @brief Accelerometer readings.
+ @return raw accelerometer readings.
+ */
+ Eigen::Vector3d accel(void);
+
+ /** @brief Magnetometer readings.
+ @return raw magnetometer readings.
+ */
+ Eigen::Vector3d mag(void);
+
+ /** @brief Gyroscope readings.
+ @return raw gyroscope readings.
+ */
+ Eigen::Vector3d gyro(void);
+
+ /** @brief Euler angles obtained through internal fusion.
+ Euler angles around ZYX are equivalent to Roll-Pitch-Yaw.
+ @return Euler angles.
+ */
+ Eigen::EulerAnglesZYXd euler(void);
+
+ /** @brief Unitary quaternion describing orientation obtained through internal fusion.
+ @return unitary quaternion.
+ */
+ Eigen::Quaterniond quaternion(void);
+
+ /** @brief Linear acceleration obtained through internal fusion.
+ @return linear acceleration.
+ */
+ Eigen::Vector3d linearAccel(void);
+
+ /** @brief Gravity vector obtained through internal fusion.
+ @return gravity vector.
+ */
+ Eigen::Vector3d gravity(void);
+};
+
+}
+#endif
--- /dev/null
+/******************************************************************************
+ IMU Fusion Library
+ Extended Kalman Filter
+ Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+/** @file ekf.hpp
+ @brief Extended Kalman filter for orientation estimation using quaternions.
+ @author Walter Fetter Lages <w.fetter@ieee.org>
+*/
+
+#ifndef __IMUFUSION_EKF_H__
+#define __IMUFUSION_EKF_H__
+
+#include <Eigen/Dense>
+
+namespace imufusion
+{
+
+/** @brief Extended Kalman filter using quaternions
+*/
+class Ekf
+{
+ private:
+ const double Gz_; ///< Gravity acceleration
+ const double T_; ///< Sampling period
+ Eigen::VectorXd x_; ///< Filter state
+ Eigen::MatrixXd P_; ///< Covariance a priori
+ Eigen::MatrixXd Pw_; ///< Covariance of process noise
+ Eigen::MatrixXd Pv_; ///< Covariance of observation noise
+
+ /** @brief Process fuction
+ @param u Process input (gyro)
+ @return Predicted state
+ */
+ Eigen::VectorXd f(Eigen::Vector3d u);
+
+ /** @brief Jacobian of process fuction
+ @param u Process input (gyro)
+ @return Jacobian of process function
+ */
+ Eigen::MatrixXd F(Eigen::Vector3d u);
+
+
+ /** @brief Observation fuction
+ @return Predicted observation
+ */
+ Eigen::VectorXd h(void);
+
+ /** @brief Jacobian of observation fuction
+ @return Jacobian of observation function
+ */
+ Eigen::MatrixXd H(void);
+
+
+ public:
+ /** @brief Constructs an extended Kalman filter.
+ @param x0 Inital orientation.
+ @param P0 Initial a priori covariance of estimation error
+ @param Pw Covariance of process noise
+ @param Pv Covariance of observation noise
+ @param T Sampling period
+ */
+ Ekf(const Eigen::Quaterniond &x0,const Eigen::MatrixXd &P0,const Eigen::MatrixXd &Pw,const Eigen::MatrixXd &Pv,double T);
+
+ /** @brief Destructor of an extended Kalman filter.
+ */
+ ~Ekf(void);
+
+ /** @brief Update filter
+ @param acc Accelerometer reading.
+ @param mag Manetometer reading.
+ @param gyro Gyroscope reading.
+ */
+ void update(const Eigen::Vector3d &acc,const Eigen::Vector3d &mag,const Eigen::Vector3d &gyro);
+
+ /** @brief Get orientation estimation
+ @return Unitary quaternion with orientation
+ */
+ Eigen::Quaterniond quaternion(void);
+
+};
+
+}
+#endif
--- /dev/null
+/******************************************************************************
+ IMU Fusion Library
+ IMU Abstraction
+ Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+/** @file imu.hpp
+ @brief IMU abstraction.
+ @author Walter Fetter Lages <w.fetter@ieee.org>
+*/
+
+#ifndef __IMUFUSION_IMU_H__
+#define __IMUFUSION_IMU_H__
+
+#include <stdexcept>
+
+#include <Eigen/Dense>
+#include <unsupported/Eigen/EulerAngles>
+
+namespace imufusion
+{
+
+/** @brief IMU Abstraction.
+*/
+class Imu
+{
+ public:
+ /** @brief Accelerometer readings.
+ @return raw accelerometer readings.
+ */
+ virtual Eigen::Vector3d accel(void)=0;
+
+ /** @brief Magnetometer readings.
+ @return raw magnetometer readings.
+ */
+ virtual Eigen::Vector3d mag(void)=0;
+
+ /** @brief Gyroscope readings.
+ @return raw gyroscope readings.
+ */
+ virtual Eigen::Vector3d gyro(void)=0;
+
+ /** @brief Euler angles obtained through internal fusion.
+ @return Euler angles.
+ */
+ virtual Eigen::EulerAnglesZYXd euler(void)=0;
+
+ /** @brief Unitary quaternion describing orientation obtained through internal fusion.
+ @return unitary quaternion.
+ */
+ virtual Eigen::Quaterniond quaternion(void)=0;
+
+ /** @brief Linear acceleration obtained through internal fusion.
+ @return linear acceleration.
+ */
+ virtual Eigen::Vector3d linearAccel(void)=0;
+
+ /** @brief Gravity vector obtained through internal fusion.
+ @return gravity vector.
+ */
+ virtual Eigen::Vector3d gravity(void)=0;
+
+ /** @brief Handle exceptions.
+ */
+ class Exception: public std::runtime_error
+ {
+ public:
+ /** @brief Execption constructor.
+ @param message: message describing the exception.
+ */
+ Exception(const std::string& message): std::runtime_error(message) {}
+ };
+
+};
+
+}
+#endif
--- /dev/null
+TARGET=libimufusion.a
+SRCS=bno055.cpp ekf.cpp
+
+FLAGS=-O2 -Wall -MMD
+INCLUDE=-I. -I../include \
+ -I../../bno055/BNO055_driver -I../../bno055/bno055/include \
+ -I /usr/include/eigen3
+LIBDIR=
+LIBS=
+
+CXX=$(CROSS_COMPILE)g++
+CCAR=$(CROSS_COMPILE)ar
+CXXFLAGS=$(FLAGS) $(INCLUDE)
+LDFLAGS=$(LIBDIR) $(LIBS)
+CCARFLAGS=-crvs
+
+all: $(TARGET)
+
+$(TARGET): $(SRCS:.cpp=.o)
+ $(CCAR) $(CCARFLAGS) $@ $^
+
+%.o: %.cpp
+ $(CXX) $(CXXFLAGS) -c -o $@ $<
+
+-include $(SRCS:.cpp=.d)
+
+clean:
+ rm -f *~ *.bak *.o *.d ../include/*~
+
+distclean: clean
+ rm -f $(TARGET)
--- /dev/null
+/******************************************************************************
+ IMU Fusion Library
+ BNO055 Abstraction
+ Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <bno055_tty.h>
+#include <bno055_i2c.h>
+#include <bno055_units.h>
+
+#include <bno055.hpp>
+
+namespace imufusion
+{
+
+Bno055::Bno055(const char *device,uint8_t devAddr)
+{
+ interface_='i';
+ if(BNO055_i2c_init(device,devAddr,&bno055_))
+ throw Exception("Error initializing I2C interface.");
+ init();
+}
+
+Bno055::Bno055(const char *device)
+{
+ interface_='t';
+ if(BNO055_tty_init(device,&bno055_))
+ throw Exception("Error initializing TTY interface.");
+ init();
+}
+
+
+void Bno055::init(void)
+{
+ if(bno055_init(&bno055_) != BNO055_SUCCESS)
+ throw Exception("Error initializing bno055.");
+
+ u8 stat_clk;
+ if(bno055_get_stat_main_clk(&stat_clk) != BNO055_SUCCESS)
+ throw Exception("Error reading clock status.");
+ else
+ {
+ if(stat_clk==0)
+ {
+ u8 clk_src=1;
+ if(bno055_set_clk_src(clk_src) != BNO055_SUCCESS)
+ throw Exception("Error setting clock source.");
+ }
+ }
+
+ if(bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ) != BNO055_SUCCESS)
+ throw Exception("Error setting acceleration unit to m/s^2.");
+
+ if(bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS) != BNO055_SUCCESS)
+ throw Exception("Error setting gyroscope unit to rad/s.");
+
+ if(bno055_set_euler_unit(BNO055_EULER_UNIT_RAD) != BNO055_SUCCESS)
+ throw Exception("Error setting Euler angles unit to rad.");
+
+ if(bno055_set_tilt_unit(BNO055_TILT_UNIT_RAD) != BNO055_SUCCESS)
+ throw Exception("Error setting tilt unit to rad.");
+
+ if(bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS) != BNO055_SUCCESS)
+ throw Exception("Error setting temperature unit to Celsius.");
+
+ if(bno055_set_data_output_format(0x01) != BNO055_SUCCESS)
+ throw Exception("Error setting data output format.");
+
+// Use internal fusion data for evaluation
+// if(bno055_set_operation_mode(BNO055_OPERATION_MODE_AMG) != BNO055_SUCCESS)
+// throw Exception("Error setting operation mode to AMG.");
+
+ if(bno055_set_operation_mode(BNO055_OPERATION_MODE_NDOF) != BNO055_SUCCESS)
+ throw Exception("Error setting operation mode to NDOF.");
+}
+
+Bno055::~Bno055(void)
+{
+ switch(interface_)
+ {
+ case 't':
+ BNO055_tty_close(&bno055_);
+ break;
+ case 'i':
+ BNO055_i2c_close(&bno055_);
+ break;
+ }
+}
+
+Eigen::Vector3d Bno055::accel(void)
+{
+ struct bno055_accel_t accel;
+ if(bno055_read_accel_xyz(&accel) != BNO055_SUCCESS)
+ throw Exception("Error reading acceleration.");
+ Eigen::Vector3d accelVector;
+ accelVector << accel.x/BNO055_ACCEL_DIV_MSQ,
+ accel.y/BNO055_ACCEL_DIV_MSQ,
+ accel.z/BNO055_ACCEL_DIV_MSQ;
+ return accelVector;
+}
+
+Eigen::Vector3d Bno055::mag(void)
+{
+ struct bno055_mag_t mag;
+ if(bno055_read_mag_xyz(&mag) != BNO055_SUCCESS)
+ throw Exception("Error reading magnetometer.");
+ Eigen::Vector3d magVector;
+ magVector << mag.x/BNO055_MAG_DIV_UT,
+ mag.y/BNO055_MAG_DIV_UT,
+ mag.z/BNO055_MAG_DIV_UT;
+ return magVector;
+}
+
+Eigen::Vector3d Bno055::gyro(void)
+{
+ struct bno055_gyro_t gyro;
+ if(bno055_read_gyro_xyz(&gyro) != BNO055_SUCCESS)
+ throw Exception("Error reading gyroscope.");
+ Eigen::Vector3d gyroVector;
+ gyroVector << gyro.x/BNO055_GYRO_DIV_RPS,
+ gyro.y/BNO055_GYRO_DIV_RPS,
+ gyro.z/BNO055_GYRO_DIV_RPS;
+ return gyroVector;
+}
+
+Eigen::EulerAnglesZYXd Bno055::euler(void)
+{
+ struct bno055_euler_t euler;
+ if(bno055_read_euler_hrp(&euler) != BNO055_SUCCESS)
+ throw Exception("Error reading Euler angles.");
+ Eigen::EulerAnglesZYXd eulerAngles(euler.h/BNO055_EULER_DIV_RAD,
+ euler.r/BNO055_EULER_DIV_RAD,
+ euler.p/BNO055_EULER_DIV_RAD);
+ return eulerAngles;
+}
+
+Eigen::Quaterniond Bno055::quaternion(void)
+{
+ struct bno055_quaternion_t quaternion;
+ if(bno055_read_quaternion_wxyz(&quaternion) != BNO055_SUCCESS)
+ throw Exception("Error reading quaternion.");
+ Eigen::Quaterniond q;
+ q.w()=quaternion.w/BNO055_QUATERNION_DIV;
+ q.x()=quaternion.x/BNO055_QUATERNION_DIV;
+ q.y()=quaternion.y/BNO055_QUATERNION_DIV;
+ q.z()=quaternion.z/BNO055_QUATERNION_DIV;
+ return q;
+}
+
+Eigen::Vector3d Bno055::linearAccel(void)
+{
+ struct bno055_linear_accel_t linearAccel;
+ if(bno055_read_linear_accel_xyz(&linearAccel) != BNO055_SUCCESS)
+ throw Exception("Error reading linear acceleration.");
+ Eigen::Vector3d accel;
+ accel << linearAccel.x/BNO055_LINEAR_ACCEL_DIV_MSQ,
+ linearAccel.y/BNO055_LINEAR_ACCEL_DIV_MSQ,
+ linearAccel.z/BNO055_LINEAR_ACCEL_DIV_MSQ;
+ return accel;
+}
+
+Eigen::Vector3d Bno055::gravity(void)
+{
+ struct bno055_gravity_t gravity;
+ if(bno055_read_gravity_xyz(&gravity) != BNO055_SUCCESS)
+ throw Exception("Error reading gravity.");
+ Eigen::Vector3d g;
+ g << gravity.x/BNO055_GRAVITY_DIV_MSQ,
+ gravity.y/BNO055_GRAVITY_DIV_MSQ,
+ gravity.z/BNO055_GRAVITY_DIV_MSQ;
+ return g;
+}
+
+} // namespace
--- /dev/null
+/******************************************************************************
+ IMU Fusion Library
+ Extended Kalman Filter
+ Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <ekf.hpp>
+
+namespace imufusion
+{
+
+Ekf::Ekf(const Eigen::Quaterniond &q0,const Eigen::MatrixXd &P0,const Eigen::MatrixXd &Pw,const Eigen::MatrixXd &Pv,double T): Gz_(9.81), T_(T), x_(7), P_(P0), Pw_(Pw),Pv_(Pv)
+{
+ Eigen::Vector3d gyroBias;
+ gyroBias.setZero();
+ x_ << q0.w(), q0.x(),q0.y(),q0.z(), gyroBias;
+}
+
+Ekf::~Ekf(void)
+{
+
+}
+
+void Ekf::update(const Eigen::Vector3d &acc,const Eigen::Vector3d &mag,const Eigen::Vector3d &gyro)
+{
+ // Assemble observation
+ Eigen::VectorXd y;
+ y << acc, mag;
+
+ // Gain
+ Eigen::MatrixXd K=P_*H().transpose()*(H()*P_*H().transpose()+Pv_).inverse();
+
+ // State estimation
+ Eigen::VectorXd x=x_+K*(y-h());
+
+ // Covariance a posteriori
+ Eigen::MatrixXd P=(Eigen::MatrixXd::Identity(7,7)-K*H())*P_;
+
+ // State prediction
+ x_=f(gyro);
+
+ // Covariance propagation
+ P_=F(gyro)*P*F(gyro).transpose()+Pw_;
+}
+
+Eigen::Quaterniond Ekf::quaternion(void)
+{
+ Eigen::Quaterniond q(x_(0),x_(1),x_(2),x_(3));
+ q.normalize();
+ return q;
+}
+
+Eigen::VectorXd Ekf::f(Eigen::Vector3d u)
+{
+ Eigen::MatrixXd Xi(4,3);
+ Xi << -x_(1), -x_(2), -x_(3),
+ x_(0), -x_(3), -x_(2),
+ x_(3), x_(0), -x_(1),
+ -x_(2), x_(1), x_(0);
+
+ Eigen::MatrixXd G(7,3);
+ G << T_/2.0*Xi, Eigen::MatrixXd::Zero(3,3);
+
+ return x_+G*u;
+}
+
+Eigen::MatrixXd Ekf::F(Eigen::Vector3d u)
+{
+ Eigen::MatrixXd Xi(4,3);
+ Xi << -x_(1), -x_(2), -x_(3),
+ x_(0), -x_(3), -x_(2),
+ x_(3), x_(0), -x_(1),
+ -x_(2), x_(1), x_(0);
+
+ Eigen::MatrixXd Omega(4,3);
+ Omega << 0.0, -u(0), -u(1), -u(2),
+ u(0), 0.0, u(2), -u(1),
+ u(1), -u(2), 0.0, u(0),
+ u(2), u(1), -u(0),0.0;
+
+ Eigen::MatrixXd F(7,7);
+ F << T_/2*Omega, -T_/2*Xi,
+ Eigen::MatrixXd::Zero(3,4), Eigen::MatrixXd::Zero(3,3);
+
+ return F;
+}
+
+Eigen::VectorXd Ekf::h(void)
+{
+ Eigen::VectorXd h(6);
+ h << 2*Gz_*(x_(1)*x_(3)-x_(2)*x_(0)),
+ 2*Gz_*(x_(2)*x_(3)+x_(1)*x_(0)),
+ Gz_*(x_(0)*x_(0)-x_(1)*x_(1)-x_(2)*x_(2)+x_(3)*x_(3)),
+ x_(0)*x_(0)+x_(1)*x_(1)-x_(2)*x_(2)-x_(3)*x_(3),
+ 2*(x_(1)*x_(2)-x_(3)*x_(0)),
+ 2*(x_(1)*x_(3)+x_(2)*x_(0));
+ return h;
+}
+
+Eigen::MatrixXd Ekf::H(void)
+{
+ Eigen::MatrixXd H(6,4);
+ H << -2*Gz_*x_(2), 2*Gz_*x_(3), -2*Gz_*x_(0), 2*Gz_*x_(1),
+ 2*Gz_*x_(1), 2*Gz_*x_(0), 2*Gz_*x_(3), 2*Gz_*x_(2),
+ 2*Gz_*x_(0), -2*Gz_*x_(1), -2*Gz_*x_(2), 2*Gz_*x_(3),
+ 2*x_(0), -2*x_(1), -2*x_(2), -2*x_(3),
+ -2*x_(3), 2*x_(2), 2*x_(1), -2*x_(0),
+ 2*x_(2), 2*x_(4), -2*x_(0), 2*x_(2);
+ return H;
+}
+
+
+}
--- /dev/null
+TARGET=ekf_test
+SRCS=$(TARGET).cpp
+
+FLAGS=-Wall -g -MMD
+INCLUDE=-I. -I../include \
+ -I../../bno055/BNO055_driver -I ../../bno055/bno055/include \
+ -I/usr/include/eigen3
+LIBDIR=-L../lib -L../../bno055/BNO055_driver -L../../bno055/bno055/lib
+LIBS=-limufusion -lbno055ifc -lbno055
+
+CXX=$(CROSS_COMPILE)g++
+CXXFLAGS=$(FLAGS) $(INCLUDE)
+LDFLAGS=$(LIBDIR) $(LIBS)
+
+all: $(TARGET)
+
+$(TARGET): $(SRCS:.cpp=.o)
+ $(CXX) -o $@ $^ $(LDFLAGS)
+
+%.o: %.cpp
+ $(CXX) $(CXXFLAGS) -c -o $@ $<
+
+-include $(SRCS:.cpp=.d)
+
+clean:
+ rm -f *~ *.bak *.o *.d
+
+distclean: clean
+ rm -f $(TARGET)
--- /dev/null
+/******************************************************************************
+ IMU Fusion Library
+ Extended Kalman Filter Test
+ Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <unistd.h>
+
+#include <iostream>
+
+#include <bno055.hpp>
+#include <ekf.hpp>
+
+void usage_help(const char *name)
+{
+ std::cerr << "Usage: " << name << " <-i i2c_address | -t> device" << std::endl
+ << "For I2C, device is something like /dev/i2c-0." << std::endl
+ << "For TTY, device is something like /dev/ttyUSB0." << std::endl;
+ exit(EXIT_FAILURE);
+}
+
+int main(int argc,char *argv[])
+{
+ if(argc < 2) usage_help(argv[0]);
+
+ imufusion::Imu *imu;
+ int opt;
+ try
+ {
+ while((opt=getopt(argc,argv,"i:t")) != -1)
+ {
+ switch(opt)
+ {
+ case 'i':
+ {
+ /* I2C interface */
+ uint8_t devAddr=strtol(optarg,NULL,0);
+ imu=new imufusion::Bno055(argv[optind],devAddr);
+ break;
+ }
+ case 't':
+ {
+ /* TTY interface */
+ imu=new imufusion::Bno055(argv[optind]);
+ break;
+ }
+ default:
+ usage_help(argv[0]);
+ }
+ }
+ }
+ catch(imufusion::Imu::Exception &e)
+ {
+ std::cerr << e.what() << std::endl;
+ return -1;
+ }
+
+ Eigen::Quaterniond q0;
+ q0.setIdentity();
+ Eigen::MatrixXd P0(7,7);
+ P0.setIdentity();
+ P0*=1e5;
+ Eigen::MatrixXd Pw(7,7);
+ Pw.setIdentity();
+ Pw*=1e-3*1e-3;
+ Eigen::MatrixXd Pv(6,6);
+ Pv.setIdentity();
+ Pv*=1e-3*1e-3;
+ const double T=0.01;
+ imufusion::Ekf ekf(q0,P0,Pw,Pv,T);
+
+ for(;;)
+ {
+ try
+ {
+
+ Eigen::Vector3d accel=imu->accel();
+ Eigen::Vector3d mag=imu->mag();
+ Eigen::Vector3d gyro=imu->gyro();
+
+ ekf.update(accel,mag,gyro);
+
+ for(int i=0;i < 8;i++) std::cout << "----------";
+ std::cout << std::endl;
+ std::cout << "Acceleration=" << accel.transpose() << " m/s^2" << std::endl
+ << "Magnetometer=" << mag.transpose() << " uT" << std::endl
+ << "Gyroscope=" << gyro.transpose() << " rad/s" << std::endl;
+
+ Eigen::Quaterniond q=imu->quaternion();
+ Eigen::Quaterniond qEkf;//=ekf.quaternion();
+ std::cout << "Quaternion=" << q.w() << " " << q.vec().transpose() << std::endl
+ << "EKF=" << qEkf.w() << " " << qEkf.vec().transpose() << std::endl
+ << "Euler angles=" << imu->euler() << " rad" << std::endl
+ << "Linear acceleration=" << imu->linearAccel().transpose() << " m/s^2" << std::endl
+ << "Gravity=" << imu->gravity().transpose() << " m/s^2" << std::endl;
+ }
+ catch(imufusion::Imu::Exception &e)
+ {
+ std::cerr << e.what() << std::endl;
+ }
+ usleep(10000);
+ }
+
+ return 0;
+}
projects / imufusion.git / commitdiff