RotatedIMU.cpp

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Niccolò Betto
 *
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 * of this software and associated documentation files (the "Software"), to deal
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 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
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 * The above copyright notice and this permission notice shall be included in
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 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#include "RotatedIMU.h"
 
using namespace Eigen;
 
namespace Boardcore
{
 
RotatedIMU::RotatedIMU(SampleIMUFunction sampleImuFunction)
    : sampleImu(std::move(sampleImuFunction))
{
}
 
void RotatedIMU::addAccTransformation(const Matrix3f& t) { accT = t * accT; }
void RotatedIMU::addGyroTransformation(const Matrix3f& t) { gyroT = t * gyroT; }
void RotatedIMU::addMagTransformation(const Matrix3f& t) { magT = t * magT; }
 
void RotatedIMU::resetTransformations()
{
    accT  = Matrix3f::Identity();
    gyroT = Matrix3f::Identity();
    magT  = Matrix3f::Identity();
}
 
Matrix3f RotatedIMU::rotateAroundX(float angle)
{
    Matrix3f rotation;
    angle = angle * EIGEN_PI / 180.f;
 
    // clang-format off
    rotation = Matrix3f{{1,     0,           0},
                        {0,     cosf(angle), -sinf(angle)},
                        {0,     sinf(angle), cosf(angle)}};
    // clang-format on
 
    return rotation;
}
 
Matrix3f RotatedIMU::rotateAroundY(float angle)
{
    Matrix3f rotation;
    angle = angle * EIGEN_PI / 180.f;
 
    // clang-format off
    rotation = Matrix3f{{cosf(angle),   0,  sinf(angle)},
                        {0,             1,  0},
                        {-sinf(angle),  0,  cosf(angle)}};
    // clang-format on
 
    return rotation;
}
 
Matrix3f RotatedIMU::rotateAroundZ(float angle)
{
    Matrix3f rotation;
    angle = angle * EIGEN_PI / 180.f;
 
    // clang-format off
    rotation = Matrix3f{{cosf(angle),   -sinf(angle),   0},
                        {sinf(angle),   cosf(angle),    0},
                        {0,             0,              1}};
    // clang-format on
 
    return rotation;
}
 
IMUData RotatedIMU::sampleImpl()
{
    auto imuData = sampleImu();
 
    AccelerometerData& accData = imuData;
    GyroscopeData& gyroData    = imuData;
    MagnetometerData& magData  = imuData;
 
    Vector3f rotatedAcc  = accT * static_cast<Vector3f>(accData);
    Vector3f rotatedGyro = gyroT * static_cast<Vector3f>(gyroData);
    Vector3f rotatedMag  = magT * static_cast<Vector3f>(magData);
 
    auto acc                  = AccelerometerData{rotatedAcc};
    acc.accelerationTimestamp = accData.accelerationTimestamp;
 
    auto gyro                  = GyroscopeData{rotatedGyro};
    gyro.angularSpeedTimestamp = gyroData.angularSpeedTimestamp;
 
    auto mag                   = MagnetometerData{rotatedMag};
    mag.magneticFieldTimestamp = magData.magneticFieldTimestamp;
 
    return {acc, gyro, mag};
}
 
}  // namespace Boardcore