From a308930e29fe1b3b0d5aefe3ad44d05a465a1e85 Mon Sep 17 00:00:00 2001
From: Ryan Pavlik <ryan.pavlik@collabora.com>
Date: Mon, 11 Nov 2019 11:46:55 -0600
Subject: [PATCH] WIP

---
 src/xrt/auxiliary/tracking/t_imu_fusion.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/xrt/auxiliary/tracking/t_imu_fusion.h b/src/xrt/auxiliary/tracking/t_imu_fusion.h
index 4384a6347..c6bb9efe7 100644
--- a/src/xrt/auxiliary/tracking/t_imu_fusion.h
+++ b/src/xrt/auxiliary/tracking/t_imu_fusion.h
@@ -13,6 +13,9 @@
 #error "This header is C++-only."
 #endif
 
+#include "t_lowpass.h"
+#include "math/m_api.h"
+
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
@@ -136,6 +139,7 @@ private:
 	Eigen::Vector3d angVel_{Eigen::Vector3d::Zero()};
 	Eigen::Quaterniond quat_{Eigen::Quaterniond::Identity()};
 	double gravity_scale_;
+	LowPassIIR<3> accel_{200 /* hz cutoff frequency */};
 	bool started_{false};
 };
 } // namespace xrt_fusion
-- 
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