From 572710ed275551df088955b146235e27896198c4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 14 Nov 2018 14:46:04 -0500 Subject: [PATCH] EKF add typed Quatf getter --- EKF/estimator_interface.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index 82df669166..e7e26c103c 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -286,6 +286,8 @@ public: } } + const matrix::Quatf &get_quaternion() const { return _output_new.quat_nominal; } + // return the quaternion defining the rotation from the EKF to the External Vision reference frame virtual void get_ekf2ev_quaternion(float *quat) = 0;