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t_imu_fusion: Add capability to get world non-gravity acceleration

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Ryan Pavlik 2019-11-12 12:02:54 -06:00 committed by Jakob Bornecrantz
parent 21352ca338
commit 2823193302
1 changed files with 12 additions and 0 deletions
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12
src/xrt/auxiliary/tracking/t_imu_fusion.h
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@ -167,6 +167,18 @@ public:
return true; return true;
} }
/*!
* Use this to obtain the residual, world-space acceleration not
* associated with gravity, after incorporating a measurement.
*/
Eigen::Vector3d
getCorrectedWorldAccel(Eigen::Vector3d const &accel) const
{
Eigen::Vector3d adjusted_accel = accel * getAccelScaleFactor();
return (quat_ * adjusted_accel) -
(Eigen::Vector3d::UnitY() * MATH_GRAVITY_M_S2);
}
Eigen::Matrix3d Eigen::Matrix3d
getRotationMatrix() const getRotationMatrix() const
{ {