OrientationEstimator.h File Reference

All Orientation Estimation Algorithms. More...

#include "Controllers/StateEstimatorContainer.h"

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Classes
class	CheaterOrientationEstimator< T >
class	VectorNavOrientationEstimator< T >

Detailed Description

All Orientation Estimation Algorithms.

This file will contain all orientation algorithms. Orientation estimators should compute:

• orientation: a quaternion representing orientation
• rBody: coordinate transformation matrix (satisfies vBody = Rbody * vWorld)
• omegaBody: angular velocity in body frame
• omegaWorld: angular velocity in world frame
• rpy: roll pitch yaw

Definition in file OrientationEstimator.h.