get_orientation_imu_in_ars()

Eigen::Quaterniond get_orientation_imu_in_ars ( const Attitude &  attitude )

inlinenoexcept

Get orientation from the IMU frame to the ARS frame.

Parameters

[in]

attitude

Attitude object from the pi3hat library.

Returns

Orientation from the IMU frame to the ARS frame.

This orientation is computed by the Unscented Kalman filter (UKF) in pi3hat/fw/attitude_reference.h.