◆ compute_base_orientation_from_imu()

Eigen::Matrix3d compute_base_orientation_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 the orientation of the base frame with respect to the world frame.

Parameters

quat_imu_in_ars	Quaternion representing the rotation matrix from the IMU frame to the attitude reference system (ARS) frame, in `[w, x, y, z]` format.
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.