get_angular_velocity()

Eigen::Vector3d get_angular_velocity ( const Attitude &  attitude )

inlinenoexcept

Get the body angular velocity of the IMU frame.

Parameters

[in]

attitude

Attitude object from the pi3hat library.

Returns

Body angular velocity of the IMU frame in rad/s.

Note

This is the angular velocity \( {}_I \omega_{WI} \) from the IMU frame \( I \) to the world frame \( W \), expressed in the IMU frame.