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Small and highly efficient performance-oriented cross-platform C++ library
Implements fusion of IMU sensor data (3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer), forming a reliable 3D attitude (orientation) estimate in the form of a quaternion
Able to dynamically deal with missing or non-present sensor data, even if there is theoretically no longer enough information to reconstruct a full 3D attitude
Gyro bias estimation, tuneable algorithm parameters, interface to provide state/system priors if desired
Multiple fallback estimation algorithms to choose from, including the ZYX yaw method, fused yaw method, and absolute fused yaw method
Transient quick learning phase for fast initial settling of the attitude estimate
Guaranteed numerical and algorithmic stability, with much effort having gone into ensuring the complete robustness of the implementation
Independent code with no external dependencies other than certain maths functions of the C++ Standard Library
Documented using the Doxygen documentation generation tool, including a code sample and a discussion of all usage caveats
Extremely well-commented library source code detailing and discussing the implementation details
Tried and tested by the author in simulation and on various robotic platforms
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