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Rvis transposed, in this way we have consisency

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Andrea Nistico
2015-04-24 16:45:17 +02:00
parent c5ce8f39ae
commit 1f5775615f
1 changed files with 2 additions and 2 deletions
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4
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@@ -465,8 +465,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
math::Vector<3> v(1.0f, 0.0f, 0.4f);
math::Vector<3> vn = Rvis * v;
math::Vector<3> vn = Rvis.transposed() * v; //Rvis is Rwr (robot respect to world) while v is respect to world. Hence Rvis must be transposed having (Rwr)' * Vw
// Rrw * Vw = vn. This way we have consistency
z_k[6] = vn(0);
z_k[7] = vn(1);
z_k[8] = vn(2);