Enum PntosInertialType

Enum Documentation

enum PntosInertialType

An enumeration that allows the user to know which inertial model they are implementing or have.

UNSTABLE: This feature is unstable and is not yet considered part of the stable pntOS API. Usage of this feature is highly discouraged in non-experimental code, and its definition may change at any time.

Values:

enumerator PNTOS_STANDARD_INERTIAL_MECHANIZATION

A mechanization which involves exactly three orthogonal gyros and three orthogonal accelerometers that are aligned with each other (accelerometers with gyros). In this mechanization, the sensor frame is by definition the coordinate frame of the gyros and accelerometers. Corresponds to an instance of PntosStandardInertialMechanization.

enumerator PNTOS_EXTERNAL_INERTIAL

A model for an inertial where the solutions are generated by an external source. In this model, the plugin has less control over the solutions and doesn’t mechanize IMU measurements to produce new solutions. Instead, inertial solutions are stored and buffered so that they can be interpolated to queried times. It is still possible to approximate inertial forces and rates with this model but since the solutions are externally generated, it will not generally be possible to get or set inertial errors or to reset the inertial solutions. Corresponds to an instance of PntosExternalInertial.

enumerator PNTOS_NON_ORTHOGONAL_INERTIAL_MECHANIZATION

A mechanization in which either the gyros are not aligned with the accelerometers, or in which there are three or more gyros that are not orthogonal and/or three or more accelerometers which are not orthogonal. Corresponds to an (unimplemented) instance of PntosNonOrthogonalInertialMechanization.