├── README.md ├── imu_driver ├── CMakeLists.txt ├── README.md ├── launch │ ├── mick_imu.launch │ ├── seven_lab.launch │ └── wit_imu.launch ├── package.xml ├── reference │ ├── JY901-V4.1.pdf │ ├── WTGAHRS1-Useage-V1.1.pdf │ └── miniAHRS.pdf ├── scripts │ ├── config.sh │ └── wit_imu.rules └── src │ ├── mick_imu.cpp │ ├── seven_lab.cpp │ └── wit_imu.cpp └── pose_estimate ├── CMakeLists.txt ├── README.md ├── include ├── Convert.h ├── EKF2_AHRS.h ├── EKF_AHRS.h ├── EKF_CompleFilter.h ├── ESKF_Attitude.h ├── Madgwick_AHRS.h ├── Mahony_AHRS.h ├── TypeDefs.h ├── iir │ ├── Biquad.cpp │ ├── Biquad.h │ ├── Butterworth.cpp │ ├── Butterworth.h │ ├── Cascade.cpp │ ├── Cascade.h │ ├── ChebyshevI.cpp │ ├── ChebyshevI.h │ ├── ChebyshevII.cpp │ ├── ChebyshevII.h │ ├── Common.h │ ├── Custom.cpp │ ├── Custom.h │ ├── Iir.h │ ├── Layout.h │ ├── MathSupplement.h │ ├── PoleFilter.cpp │ ├── PoleFilter.h │ ├── RBJ.cpp │ ├── RBJ.h │ ├── State.cpp │ ├── State.h │ └── Types.h ├── matplotlibcpp.h └── tic_toc.h ├── launch ├── pose_estimate.launch ├── wit_imu.launch └── xsens.launch ├── package.xml ├── src ├── Convert.cpp ├── EKF2_AHRS.cpp ├── EKF_AHRS.cpp ├── EKF_CompleFilter.cpp ├── ESKF_Attitude.cpp ├── Madgwick_AHRS.cpp ├── Mahony_AHRS.cpp └── pose_estimate.cpp └── test ├── ekf2_test.cpp ├── ekf_dynamic_R_test.cpp └── mahony_dynamic_Kp_test.cpp /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RuPingCen/IMU_LIBRARY/HEAD/README.md -------------------------------------------------------------------------------- /imu_driver/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RuPingCen/IMU_LIBRARY/HEAD/imu_driver/CMakeLists.txt -------------------------------------------------------------------------------- /imu_driver/README.md: -------------------------------------------------------------------------------- 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