compute_base_pitch_from_imu()

double compute_base_pitch_from_imu ( const Eigen::Quaterniond &  quat_imu_in_ars, const Eigen::Matrix3d &  rotation_base_to_imu, const Eigen::Matrix3d &  rotation_ars_to_world  )

inline

Get pitch angle of the base frame relative to the world frame.

Parameters

[in]	quat_imu_in_ars	Quaternion representing the rotation matrix from the IMU frame to the attitude reference system (ARS) frame.
[in]	rotation_base_to_imu	Rotation matrix from the base frame to the IMU frame. When not specified, the default Upkie mounting orientation is used.
	rotation_ars_to_world	Rotation from the attitude reference system (ARS) frame to the world frame.

Returns

Angle from the world z-axis (unit vector opposite to gravity) to the base z-axis. This angle is positive when the base leans forward.