upkie::cpp::interfaces::pi3hat Namespace Reference

Utility functions specific to the pi3hat interface. More...

Typedefs
using	Attitude = ::mjbots::pi3hat::Attitude
	Attitude data type from the mjbots library.

Functions
Eigen::Quaterniond	get_orientation_imu_in_ars (const Attitude &attitude) noexcept
	Get orientation from the IMU frame to the ARS frame. More...
Eigen::Vector3d	get_angular_velocity (const Attitude &attitude) noexcept
	Get the body angular velocity of the IMU frame. More...
Eigen::Vector3d	get_linear_acceleration (const Attitude &attitude) noexcept
	Get the body linear acceleration of the IMU. More...
Eigen::Vector3d	get_rate_dps (const Attitude &attitude) noexcept
	Get the body angular velocity of the IMU frame in [deg] / [s]. More...
Eigen::Vector3d	get_bias_dps (const Attitude &attitude) noexcept
	Get the gyroscope bias in [deg] / [s]. More...
Eigen::Vector3d	get_raw_angular_velocity (const Eigen::Vector3d &rate_dps, const Eigen::Vector3d &bias_dps) noexcept
	Get raw angular velocity measurement from the gyroscope. More...
Eigen::Vector3d	get_raw_linear_acceleration (const Eigen::Quaterniond &orientation_imu_in_ars, const Eigen::Vector3d &accel_mps2) noexcept
	Recompute raw linear acceleration from UKF observations. More...

Variables
constexpr double	kMjbotsGravity = 9.81
	Standard gravity constant used in the mjbots pi3hat firmware. More...

Detailed Description

Utility functions specific to the pi3hat interface.

Utility functions used in the pi3hat interface.