From: Walter Fetter Lages Date: Fri, 16 Aug 2019 09:12:35 +0000 (-0300) Subject: Initial commit. X-Git-Tag: f1~10 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=449da2a4ed4b3edba34d5c877ef7d9171d9b99eb;p=imufusion.git Initial commit. --- 449da2a4ed4b3edba34d5c877ef7d9171d9b99eb diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..226d90b --- /dev/null +++ b/.gitignore @@ -0,0 +1,65 @@ +# 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. 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If not, see . + +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: + + Copyright (C) + 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 +. + + 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 +. diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..dbb5c20 --- /dev/null +++ b/Makefile @@ -0,0 +1,41 @@ +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 diff --git a/doc/Doxyfile b/doc/Doxyfile new file mode 100644 index 0000000..903ec5c --- /dev/null +++ b/doc/Doxyfile @@ -0,0 +1,1145 @@ +# 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 , where +# is the value of the INPUT_FILTER tag, and 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 diff --git a/doc/Makefile b/doc/Makefile new file mode 100644 index 0000000..ba90d33 --- /dev/null +++ b/doc/Makefile @@ -0,0 +1,12 @@ +all: html + +html: html/index.html + +html/index.html: Doxyfile + doxygen + +clean: + rm -rf *~ + +distclean: clean + rm -rf html diff --git a/include/bno055.hpp b/include/bno055.hpp new file mode 100644 index 0000000..c566e31 --- /dev/null +++ b/include/bno055.hpp @@ -0,0 +1,102 @@ +/****************************************************************************** + IMU Fusion Library + BNO55 Abstraction + Copyright (C) 2019 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +/** @file bno055.hpp + @brief BNO055 abstraction. + @author Walter Fetter Lages +*/ + +#ifndef __IMUFUSION_BNO055_H__ +#define __IMUFUSION_BNO055_H__ + +#include + +#include + +#include + +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 diff --git a/include/ekf.hpp b/include/ekf.hpp new file mode 100644 index 0000000..799e08b --- /dev/null +++ b/include/ekf.hpp @@ -0,0 +1,100 @@ +/****************************************************************************** + IMU Fusion Library + Extended Kalman Filter + Copyright (C) 2019 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +/** @file ekf.hpp + @brief Extended Kalman filter for orientation estimation using quaternions. + @author Walter Fetter Lages +*/ + +#ifndef __IMUFUSION_EKF_H__ +#define __IMUFUSION_EKF_H__ + +#include + +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 diff --git a/include/imu.hpp b/include/imu.hpp new file mode 100644 index 0000000..97f1586 --- /dev/null +++ b/include/imu.hpp @@ -0,0 +1,92 @@ +/****************************************************************************** + IMU Fusion Library + IMU Abstraction + Copyright (C) 2019 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +/** @file imu.hpp + @brief IMU abstraction. + @author Walter Fetter Lages +*/ + +#ifndef __IMUFUSION_IMU_H__ +#define __IMUFUSION_IMU_H__ + +#include + +#include +#include + +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 diff --git a/lib/Makefile b/lib/Makefile new file mode 100644 index 0000000..5174035 --- /dev/null +++ b/lib/Makefile @@ -0,0 +1,31 @@ +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) diff --git a/lib/bno055.cpp b/lib/bno055.cpp new file mode 100644 index 0000000..aeeba64 --- /dev/null +++ b/lib/bno055.cpp @@ -0,0 +1,189 @@ +/****************************************************************************** + IMU Fusion Library + BNO055 Abstraction + Copyright (C) 2019 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +#include +#include +#include + +#include + +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 diff --git a/lib/ekf.cpp b/lib/ekf.cpp new file mode 100644 index 0000000..236eb8c --- /dev/null +++ b/lib/ekf.cpp @@ -0,0 +1,128 @@ +/****************************************************************************** + IMU Fusion Library + Extended Kalman Filter + Copyright (C) 2019 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +#include + +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; +} + + +} diff --git a/test/Makefile b/test/Makefile new file mode 100644 index 0000000..e53b627 --- /dev/null +++ b/test/Makefile @@ -0,0 +1,29 @@ +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) diff --git a/test/ekf_test.cpp b/test/ekf_test.cpp new file mode 100644 index 0000000..0571921 --- /dev/null +++ b/test/ekf_test.cpp @@ -0,0 +1,120 @@ +/****************************************************************************** + IMU Fusion Library + Extended Kalman Filter Test + Copyright (C) 2019 Walter Fetter Lages + + 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 + . + +*******************************************************************************/ + +#include + +#include + +#include +#include + +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; +}