get_raw_linear_acceleration()

Eigen::Vector3d get_raw_linear_acceleration ( const Eigen::Quaterniond &  orientation_imu_in_ars, const Eigen::Vector3d &  accel_mps2  )

inlinenoexcept

Recompute raw linear acceleration from UKF observations.

Parameters

[in]	orientation_imu_in_ars	Rotation from the IMU to the ARS.
[in]	accel_mps2	UKF output linear acceleration, in m/s².

Returns

Raw linear acceleration in m/s².

Note

We reverse filter outputs for now as (1) it avoids an extra call to ReadSpi, and more generally customizing the Pi3Hat::Impl from mjbots, and (2) the pi3hat filter's code has been stable for the last four years.