Class Complementary

Namespace

Pamoja.Kit

Assembly

Pamoja.Kit.dll

Fuses a drifting rate, such as a gyroscope's, with a noisy absolute reading, such as an accelerometer's tilt, into one steady estimate.

public sealed class Complementary : IDisposable

Inheritance

object

Complementary

Implements

IDisposable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

Each update integrates the rate onto the estimate, then nudges that toward the absolute reading by 1 - alpha, so the rate rules the short term and the absolute reading the long term. An update with a rate, reading, or time step that is not a finite number is ignored.

Constructors

Complementary(float, float)

Creates a filter.

public Complementary(float alpha, float initial)

Parameters

alpha float

The weight on the integrated rate, held to 0 to 1: near 1 trusts the rate and corrects slowly. One that is not a number is taken as 0.

initial float

The starting estimate.

Properties

Estimate

Gets the current estimate.

public float Estimate { get; }

Property Value

float

Methods

Dispose()

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.

public void Dispose()

Update(float, float, float)

Fuses a rate and an absolute reading over a time step.

public float Update(float rate, float absolute, float dt)

Parameters

rate float

The rate of change, such as degrees per second from a gyroscope.

absolute float

The absolute reading, such as a tilt from an accelerometer.

dt float

The time since the last update.

Returns

float

The fused estimate.