R/RcppExports.R

In imuf: Estimate Orientation of an Inertial Measurement Unit

# Generated by using Rcpp::compileAttributes() -> do not edit by hand
# Generator token: 10BE3573-1514-4C36-9D1C-5A225CD40393

#'
#' Update orientation with 3-axis acc and gyr data
#'
#' @description
#' `compUpdate()` uses complementary filtering to update the orientation, given
#' an initial orientation, readings of a 3-axis accelerometer and a 3-axis
#' gyroscope. time duration, and a gain factor
#'
#' @param acc A numeric 3-vector of 3-axis accelerometer readings in g
#' @param gyr A numeric 3-vector of 3-axis gyroscope readings in rad/sec
#' @param dt A numeric of time duration in sec
#' @param initQuat A numeric 4-vector of the starting orientation in quaternion
#' @param gain A numeric gain factor between 0 and 1
#' @returns A numeric 4-vector of the ending orientation in quaternion
#' @export
#'
#' @examples
#' compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)
#'
compUpdate <- function(acc, gyr, dt, initQuat, gain) {
    .Call(`_imuf_compUpdate`, acc, gyr, dt, initQuat, gain)
}

#'
#' Rotate a 3-vector by a quaternion
#'
#' @description
#' `rotV()` rotates a 3-vector by a quaternion expressed as a unit 4-vector in
#' (w,x,y,z) convention
#'
#' @param quat A numeric unit 4-vector (w,x,y,z) for a rotation quaternion
#' @param vin A numeric 3-vector to be rotated by quat
#' @returns A numeric 3-vector after the rotation
#' @export
#'
#' @examples
#' q <- c(cos(pi/4), sin(pi/4), 0, 0)
#' vin <- c(0, 1, 0)
#' rotV(q, vin)
#'
rotV <- function(quat, vin) {
    .Call(`_imuf_rotV`, quat, vin)
}