com.qualcomm.hardware.bosch

Class NaiveAccelerationIntegrator

java.lang.Object

com.qualcomm.hardware.bosch.NaiveAccelerationIntegrator

All Implemented Interfaces:

BNO055IMU.AccelerationIntegrator

public class NaiveAccelerationIntegrator
extends java.lang.Object
implements BNO055IMU.AccelerationIntegrator

NaiveAccelerationIntegrator provides a very naive implementation of an acceleration integration algorithm. It just does the basic physics. One you would actually want to use in a robot would, for example, likely filter noise out the acceleration data or more sophisticated processing.

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.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getPosition

public Position getPosition()

Description copied from interface: BNO055IMU.AccelerationIntegrator

Returns the current position as calculated by the algorithm

Specified by:

getPosition in interface BNO055IMU.AccelerationIntegrator

Returns:

the current position

getVelocity

public Velocity getVelocity()

Description copied from interface: BNO055IMU.AccelerationIntegrator

Returns the current velocity as calculated by the algorithm

Specified by:

getVelocity in interface BNO055IMU.AccelerationIntegrator

Returns:

the current velocity

getAcceleration

public Acceleration getAcceleration()

Description copied from interface: BNO055IMU.AccelerationIntegrator

Returns the current acceleration as understood by the algorithm. This is typically just the value provided in the most recent call to BNO055IMU.AccelerationIntegrator.update(Acceleration), if any.

Specified by:

getAcceleration in interface BNO055IMU.AccelerationIntegrator

Returns:

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

initialize

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

Description copied from interface: BNO055IMU.AccelerationIntegrator

(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.

Specified by:

initialize in interface BNO055IMU.AccelerationIntegrator

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:

BNO055IMU.AccelerationIntegrator.update(Acceleration)

update

public void update(Acceleration linearAcceleration)

Description copied from interface: BNO055IMU.AccelerationIntegrator

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

Specified by:

update in interface BNO055IMU.AccelerationIntegrator

Parameters:

linearAcceleration - the acceleration as just reported by the IMU