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38 lines
706 B
C++
38 lines
706 B
C++
/*
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* integrate.hpp
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*
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* Created on: Jun 17, 2024
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* Author: Dario
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*/
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#ifndef STA_MATHS_ATTITUDE_INTEGRATE_HPP
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#define STA_MATHS_ATTITUDE_INTEGRATE_HPP
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#include <sta/math/quaternion.hpp>
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#include <sta/time.hpp>
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namespace sta
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{
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namespace math
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{
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class AttitudeModel
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{
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public:
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AttitudeModel(Quaternion state, float alpha = 1.0f);
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Quaternion update(float dt, float ox, float oy, float oz);
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Quaternion update(float ox, float oy, float oz);
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Quaternion getAttitude();
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private:
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Quaternion state_;
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float alpha_;
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float time_;
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};
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} // namespace math
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} // namespace sta
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#endif // STA_MATHS_ATTITUDE_INTEGRATE_HPP
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