com.qualcomm.hardware.bosch

Interface BNO055IMU.AccelerationIntegrator

All Known Implementing Classes:

JustLoggingAccelerationIntegrator, NaiveAccelerationIntegrator

Enclosing interface:

BNO055IMU

public static interface BNO055IMU.AccelerationIntegrator

BNO055IMU.AccelerationIntegrator encapsulates an algorithm for integrating acceleration information over time to produce velocity and position.

See Also:

BNO055IMU

Method Summary

Modifier and Type	Method and Description
Acceleration	getAcceleration() Returns the current acceleration as understood by the algorithm.
Position	getPosition() Returns the current position as calculated by the algorithm
Velocity	getVelocity() Returns the current velocity as calculated by the algorithm
void	initialize(BNO055IMU.Parameters parameters, Position initialPosition, Velocity initialVelocity) (Re)initializes the algorithm with a starting position and velocity.
void	update(Acceleration linearAcceleration) Step the algorithm as a result of the stimulus of new acceleration data.

Method Detail

initialize

void initialize(BNO055IMU.Parameters parameters,
                Position initialPosition,
                Velocity initialVelocity)

(Re)initializes the algorithm with a starting position and velocity. Any timestamps that are present in these data are not to be considered as significant. The initial acceleration should be taken as undefined; you should set it to null when this method is called.

Parameters:

parameters - configuration parameters for the IMU

initialPosition - If non-null, the current sensor position is set to this value. If null, the current sensor position is unchanged.

initialVelocity - If non-null, the current sensor velocity is set to this value. If null, the current sensor velocity is unchanged.

See Also:

update(Acceleration)

getPosition

Position getPosition()

Returns the current position as calculated by the algorithm

Returns:

the current position

getVelocity

Velocity getVelocity()

Returns the current velocity as calculated by the algorithm

Returns:

the current velocity

getAcceleration

Acceleration getAcceleration()

Returns the current acceleration as understood by the algorithm. This is typically just the value provided in the most recent call to update(Acceleration), if any.

Returns:

the current acceleration, or null if the current position is undefined

update

void update(Acceleration linearAcceleration)

Step the algorithm as a result of the stimulus of new acceleration data.

Parameters:

linearAcceleration - the acceleration as just reported by the IMU