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[aerial_robot_estimation][WIP] same yaw direction as 326 world #654

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[aerial_robot_estimation][WIP] same yaw direction as 326 world #654

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89ca687
[aerial_robot_estimation] same yaw direction as 326 world
HarukiKozukapenguin Jan 12, 2025
07713d0
[sensor] remake sensor increment variable from real flight experiment
HarukiKozukapenguin Jan 12, 2025
535c3fb
[aerial_robot_estimation] remake hardcoding to result of current posi…
HarukiKozukapenguin Jan 13, 2025
7ad2fd4
[agile_multirotor] transform initial position of yaw direction
HarukiKozukapenguin Jan 13, 2025
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2 changes: 1 addition & 1 deletion aerial_robot_estimation/src/sensor/vo.cpp
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Expand Up @@ -242,7 +242,7 @@ namespace sensor_plugin
}

/** step1: ^{w}H_{b'}, b': level frame of b **/
tf::Transform w_bdash_f(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0]));
tf::Transform w_bdash_f(tf::createQuaternionFromYaw(0.0));

tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
if(estimator_->getStateStatus(State::X_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
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