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Quaternion: rename function to rotate vectors

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This commit is contained in:
Matthias Grob
2022-03-07 20:03:54 -05:00
committed by Daniel Agar
parent 5affa693f2
commit 68a0414622
7 changed files with 27 additions and 27 deletions
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src/modules/uuv_pos_control/uuv_pos_control.cpp
+2 -2
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@@ -122,7 +122,7 @@ void UUVPOSControl::pose_controller_6dof(const float x_pos_des, const float y_po
_param_pose_gain_y.get() * (pos_des(1) - vlocal_pos.y) - _param_pose_gain_d_y.get() * vlocal_pos.vy,
_param_pose_gain_z.get() * (pos_des(2) - vlocal_pos.z) - _param_pose_gain_d_z.get() * vlocal_pos.vz);
Vector3f rotated_input = q_att.conjugate_inversed(p_control_output);//rotate the coord.sys (from global to body)
Vector3f rotated_input = q_att.rotateVectorInverse(p_control_output);//rotate the coord.sys (from global to body)
publish_attitude_setpoint(rotated_input(0),
rotated_input(1),
@@ -143,7 +143,7 @@ void UUVPOSControl::stabilization_controller_6dof(const float x_pos_des, const f
0,
_param_pose_gain_z.get() * (pos_des(2) - vlocal_pos.z));
//potential d controller missing
Vector3f rotated_input = q_att.conjugate_inversed(p_control_output);//rotate the coord.sys (from global to body)
Vector3f rotated_input = q_att.rotateVectorInverse(p_control_output);//rotate the coord.sys (from global to body)
publish_attitude_setpoint(rotated_input(0) + x_pos_des, rotated_input(1) + y_pos_des, rotated_input(2),
roll_des, pitch_des, yaw_des);