Comments (11)
def __init__(self, in_file = None, q_type='analytical', R_init = np.eye(3), calculate_position=True, pos_init = np.zeros(3), in_data = None ):
This is the code for IMU_Base. Is it possible that you have an old version, and should update (currently 6.9)
And regarding the position calculation: I don't know your sensors. But my guess would be that the answer is a simple "no". For example, if you can accept an error of +/- 1 m, and you want to record for 10 min, then your accelerometer would need to have a drift of less than 6 micrometer/sec^2
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http://work.thaslwanter.at/skinematics/html/imus.html
imus.analytical argument order differs in some places, better be named arguments consistently
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Hi Ivan,
I fixed the first problem.
With the second I am not sure I understand you correctly: do you mean that the function "kalman" has the arguments in a different order (def kalman(rate, acc, omega, mag)) as analytical?
If that is the case, I have fixed it: now the argument sequence in analytical is:
def analytical(rate, accMeasured, omega, initialPosition, R_initialOrientation)
Please let me know if you had that in mind, or something else.
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I meant that the docs on site and the source code have different argument orders, thus yielding an error if developer decides to use positional arguments rather than named.
The docs after your recent edits still don't match the sources, and you broke the interface in case someone used positional arguments.
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Is the current version ok? Or do you see any remaining problems?
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Seems OK. You should also add imus.pos
field. Pretty valuable.
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Done. Watch out, though, that minute offsets in the accelerometers can lead to erroneous values quickly!
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calculate_position=True
argument to imus.IMU_Base
constructor is absent and thus effectively ignored in source 0.6.8 because imus.py, line 235
position
value is never used in def _calc_orientation(self)
.
...minute offsets in the accelerometers...
You mean I can't calculate position by using just angular speed and acceleration if duration of a record is several minutes long?
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http://work.thaslwanter.at/skinematics/html/imus.html
“mahony” … Mahony algorithm, using, acc and omega
In fact, Mahony uses mag
too.
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from scikit-kinematics.
Documentation has been updated.
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Related Issues (20)
- Denavit-Hartenberg convention HOT 2
- Real motion for test data HOT 1
- Sample rate vs. Sample period HOT 2
- Madgwick and Mahony 6Dof HOT 2
- initialization of orientation calculation for Kalman, Madgwick & Mahony HOT 3
- remove pos calculation from analytical(), make rotating q[0] to reference optional for all 4 orientation functions
- expose Kalman tunable parameters HOT 1
- the Kalman implementation questions HOT 2
- Madgwick and Mahony Update() does not support arrays with shape (N,3) HOT 1
- ImportError: cannot import name 'dist' from 'matplotlib.mlab' HOT 7
- Raspbian Buster installation anomaly
- Enable scikit-kinematics to run without OpenGL HOT 3
- ImuBase.calc_position wrongly uses normalized acc HOT 1
- Real time application HOT 3
- [question] IMU position estimate, bias issue?
- How to compute distance from positions? HOT 1
- R_init doesn't work as intended with manual sensors. HOT 2
- assertion failure in tests/test_imus.py HOT 1
- Xens data file doesn't work HOT 9
- Tkinter is a dependency, but not listed anywhere
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