fixed some issues

added new pose/turn detections
new helper classes
define-flags for libEigen

math/filter/Complementary.h

@@ -0,0 +1,74 @@
+#ifndef COMPLEMENTARY_H
+#define COMPLEMENTARY_H
+
+#include "../dsp/iir/BiQuad.h"
+#include "../../math/stats/SampleRateEstimator.h"
+
+namespace Filter {
+
+	template <typename T> class Complementary {
+
+	private:
+
+		const float fLo;
+		const float fHi;
+
+		IIR::BiQuad<T> lp;
+		IIR::BiQuad<T> hp;
+
+		SampleRateEstimator slp;
+		SampleRateEstimator shp;
+
+		T slow;
+		T fast;
+
+	public:
+
+		/** ctor with transition frequency and sample-rate */
+		Complementary(const float fLo, const float fHi) : fLo(fLo), fHi(fHi), slow(), fast() {
+			//adjust();
+		}
+
+		void addSlow(const Timestamp ts, const T& slow) {
+			slp.update(ts);
+			this->slow = lp.filter(slow);
+			adjustLP();
+		}
+
+		void addFast(const Timestamp ts, const T& fast) {
+			shp.update(ts);
+			this->fast = hp.filter(fast);
+			adjustHP();
+		}
+
+		T get() const {
+			return slow+fast;
+		}
+
+		T getLo() const {
+			return slow;
+		}
+
+		T getHi() const {
+			return fast;
+		}
+
+	private:
+
+		void adjustLP() {
+			const float freqLP = slp.getCurHz();
+			//std::cout << freqLP << ":" << freqHP << std::endl;
+			if (freqLP > fLo*2) {lp.setLowPass(fLo, 0.707, freqLP);}
+		}
+
+		void adjustHP() {
+			const float freqHP = slp.getCurHz();
+			//std::cout << freqLP << ":" << freqHP << std::endl;
+			if (freqHP > fHi*2) {hp.setHighPass(fHi, 0.707, freqHP);}
+		}
+
+	};
+
+}
+
+#endif // COMPLEMENTARY_H