correctly initialize orientation #115
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Can one of the admins verify this patch? |
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add to whitelist |
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| if (q_vc.w() == 1) { // If there is no pose measurement, only apply q_wv. | ||
| q = q_wv; | ||
| } else { // If there is a pose measurement, apply q_ic and q_wv to get initial attitud |
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@otim thanks for changing this. I agree that it is better to push the yaw offset into the q_wv offset instead of manipulating the state. lgtm. |
| @@ -186,8 +186,15 @@ class PositionPoseSensorManager : public msf_core::MSF_SensorManagerROS< | |||
| Eigen::Quaterniond yawq(cos(yawinit / 2), 0, 0, sin(yawinit / 2)); | |||
| yawq.normalize(); | |||
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| q = yawq; | |||
| q_wv = (q * q_ic * q_vc.conjugate()).conjugate(); | |||
| q_wv = yawq.conjugate(); | |||
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this does not need a conjugate. (see comment below)
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@otim please merge your other PR first, then master back into this and test it before merging this PR to master. Thanks. |
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Ok |
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