Commit a308930e authored by Ryan Pavlik's avatar Ryan Pavlik

WIP

parent ec49e395
...@@ -13,6 +13,9 @@ ...@@ -13,6 +13,9 @@
#error "This header is C++-only." #error "This header is C++-only."
#endif #endif
#include "t_lowpass.h"
#include "math/m_api.h"
#include <Eigen/Core> #include <Eigen/Core>
#include <Eigen/Geometry> #include <Eigen/Geometry>
...@@ -136,6 +139,7 @@ private: ...@@ -136,6 +139,7 @@ private:
Eigen::Vector3d angVel_{Eigen::Vector3d::Zero()}; Eigen::Vector3d angVel_{Eigen::Vector3d::Zero()};
Eigen::Quaterniond quat_{Eigen::Quaterniond::Identity()}; Eigen::Quaterniond quat_{Eigen::Quaterniond::Identity()};
double gravity_scale_; double gravity_scale_;
LowPassIIR<3> accel_{200 /* hz cutoff frequency */};
bool started_{false}; bool started_{false};
}; };
} // namespace xrt_fusion } // namespace xrt_fusion
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