VectorNavOrientationEstimator< T > Class Template Reference

#include <OrientationEstimator.h>

Inheritance diagram for VectorNavOrientationEstimator< T >:

Collaboration diagram for VectorNavOrientationEstimator< T >:

Public Member Functions
virtual void	run ()
virtual void	setup ()
Public Member Functions inherited from GenericEstimator< T >
void	setData (StateEstimatorData< T > data)
virtual	~GenericEstimator ()=default

Additional Inherited Members
Public Attributes inherited from GenericEstimator< T >
StateEstimatorData< T >	_stateEstimatorData

Detailed Description

template<typename T>
class VectorNavOrientationEstimator< T >

Definition at line 25 of file OrientationEstimator.h.

Member Function Documentation

template<typename T >

void VectorNavOrientationEstimator< T >::run ( )

virtual

Implements GenericEstimator< T >.

Definition at line 36 of file OrientationEstimator.cpp.

References ori::quaternionToRotationMatrix(), and ori::quatToRPY().

                                           {
  this->_stateEstimatorData.result->orientation[0] =
      this->_stateEstimatorData.vectorNavData->quat[3];
  this->_stateEstimatorData.result->orientation[1] =
      this->_stateEstimatorData.vectorNavData->quat[0];
  this->_stateEstimatorData.result->orientation[2] =
      this->_stateEstimatorData.vectorNavData->quat[1];
  this->_stateEstimatorData.result->orientation[3] =
      this->_stateEstimatorData.vectorNavData->quat[2];
  this->_stateEstimatorData.result->rBody = ori::quaternionToRotationMatrix(
      this->_stateEstimatorData.result->orientation);
  this->_stateEstimatorData.result->omegaBody =
      this->_stateEstimatorData.vectorNavData->gyro.template cast<T>();
  this->_stateEstimatorData.result->omegaWorld =
      this->_stateEstimatorData.result->rBody.transpose() *
      this->_stateEstimatorData.result->omegaBody;
  this->_stateEstimatorData.result->rpy =
      ori::quatToRPY(this->_stateEstimatorData.result->orientation);
  this->_stateEstimatorData.result->aBody =
      this->_stateEstimatorData.vectorNavData->accelerometer.template cast<T>();
  this->_stateEstimatorData.result->aWorld =
      this->_stateEstimatorData.result->rBody.transpose() *
      this->_stateEstimatorData.result->aBody;
}

Here is the call graph for this function:

template<typename T >

virtual void VectorNavOrientationEstimator< T >::setup ( )

inlinevirtual

Implements GenericEstimator< T >.

Definition at line 28 of file OrientationEstimator.h.

{}

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The documentation for this class was generated from the following files:

• OrientationEstimator.h
• OrientationEstimator.cpp