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attitude_estimator | A C implementation of a nonlinear 3D IMU fusion algorithm

 by   AIS-Bonn C++ Version: Current License: Non-SPDX

 by   AIS-Bonn C++ Version: Current License: Non-SPDX

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kandi X-RAY | attitude_estimator Summary

attitude_estimator is a C++ library. attitude_estimator has no bugs, it has no vulnerabilities and it has low support. However attitude_estimator has a Non-SPDX License. You can download it from GitHub.
##General Overview## Attitude Estimator is a generic platform-independent C++ library that implements an IMU sensor fusion algorithm. Up to 3-axis gyroscope, accelerometer and magnetometer data can be processed into a full 3D quaternion orientation estimate, with the use of a nonlinear Passive Complementary Filter. The library is targeted at robotic applications, but is by no means limited to this. Features of the estimator include gyro bias estimation, transient quick learning, multiple estimation algorithms, tuneable estimator parameters, and near-global stability backed by theoretical analysis. Great emphasis has been placed on having a very efficient, yet totally numerically and algorithmically robust implementation of the filter. The code size has also been kept to a minimum, and has been extremely well-commented. The programmatic interface has also been made as easy as possible. Please refer to the extensive documentation of the library for more information on its capabilities and usage caveats. Attitude Estimator was developed as part of the NimbRo-OP project at the University of Bonn. ##Installation## This library is implemented as a collection of platform-independent C++ source files. To get started just clone the attitude_estimator repository.
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kandi-support Support

  • attitude_estimator has a low active ecosystem.
  • It has 86 star(s) with 34 fork(s). There are 20 watchers for this library.
  • It had no major release in the last 12 months.
  • There are 0 open issues and 2 have been closed. On average issues are closed in 5 days. There are no pull requests.
  • It has a neutral sentiment in the developer community.
  • The latest version of attitude_estimator is current.
attitude_estimator Support
Best in #C++
Average in #C++
attitude_estimator Support
Best in #C++
Average in #C++

quality kandi Quality

  • attitude_estimator has no bugs reported.
attitude_estimator Quality
Best in #C++
Average in #C++
attitude_estimator Quality
Best in #C++
Average in #C++

securitySecurity

  • attitude_estimator has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.
attitude_estimator Security
Best in #C++
Average in #C++
attitude_estimator Security
Best in #C++
Average in #C++

license License

  • attitude_estimator has a Non-SPDX License.
  • Non-SPDX licenses can be open source with a non SPDX compliant license, or non open source licenses, and you need to review them closely before use.
attitude_estimator License
Best in #C++
Average in #C++
attitude_estimator License
Best in #C++
Average in #C++

buildReuse

  • attitude_estimator releases are not available. You will need to build from source code and install.
attitude_estimator Reuse
Best in #C++
Average in #C++
attitude_estimator Reuse
Best in #C++
Average in #C++
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attitude_estimator Key Features

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

Directly include the source files in your project, and build them with the rest of your project.

Build a static library (e.g. *.a or *.lib) of the source code and link your project to it.

Build a dynamic library (e.g. *.so or *.dll) of the source code and link your project to it.

attitude_estimator Examples and Code Snippets

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Community Discussions

No Community Discussions are available at this moment for attitude_estimator.Refer to stack overflow page for discussions.

No Community Discussions are available at this moment for attitude_estimator.Refer to stack overflow page for discussions.

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install attitude_estimator

You can download it from GitHub.

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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