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Add helper function to alter heading in rotation matrices

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This commit is contained in:
Kamil Ritz
2020-08-15 13:54:21 +02:00
committed by Paul Riseborough
parent fdc86c247a
commit 2be738e806
5 changed files with 33 additions and 44 deletions
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EKF/utils.cpp
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@@ -86,3 +86,16 @@ float getEuler312Yaw(const matrix::Quatf& q) {
float getEuler312Yaw(const matrix::Dcmf& R) {
return atan2f(-R(0, 1), R(1, 1));
}
matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf& rot_in) {
matrix::Eulerf euler321(rot_in);
euler321(2) = yaw;
return matrix::Dcmf(euler321);
}
matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf& rot_in) {
const matrix::Vector3f rotVec312(yaw, // yaw
asinf(rot_in(2, 1)), // roll
atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch
return taitBryan312ToRotMat(rotVec312);
}