Fix imu system #36
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Fix imu system #36
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nyxrobotics
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src/hdl_localization/pose_system.cpp
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| dq = Eigen::AngleAxisf(gyro[0] * dt_, Vector3t::UnitX()) * Eigen::AngleAxisf(gyro[1] * dt_, Vector3t::UnitY()) * | ||
| Eigen::AngleAxisf(gyro[2] * dt_, Vector3t::UnitZ()); |
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あまり詳しくないのですが，unit vectorで回転する式は以下だと思いましたが違いますか？
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上記の式の書き方ちょっとミスっていると思います． 🙇
認識正しければ，上記のコードだと
この２つから参考しました
https://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
https://gamedev.stackexchange.com/questions/98011/correct-way-to-integrate-scaled-axis-angular-velocity-into-a-quaternion
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色々試しましたが有意差が見られないので一旦後回しにしようと思います |
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Summary
IMUを用いたシステムの状態推定の計算を修正
Detail
Impact
Test
wheeltecのgazebo環境で動作確認
目視ではほぼ変化なし