upkie::cpp::observers::BaseOrientation::Parameters Struct Reference

Parameters for the base orientation observer. More...

#include <BaseOrientation.h>

Public Member Functions
void	configure (const Dictionary &config)
	Configure from dictionary. More...

Public Attributes
Eigen::Matrix3d	rotation_base_to_imu
	Rotation matrix from the base frame to the IMU frame. More...
Eigen::Matrix3d	rotation_ars_to_world
	Rotation matrix from the ARS frame to the world frame. More...

Detailed Description

Parameters for the base orientation observer.

Member Function Documentation

configure()

void upkie::cpp::observers::BaseOrientation::Parameters::configure ( const Dictionary &  config )

inline

Configure from dictionary.

Parameters

[in]

config

Global configuration dictionary.

Member Data Documentation

rotation_ars_to_world

Eigen::Matrix3d upkie::cpp::observers::BaseOrientation::Parameters::rotation_ars_to_world

Rotation matrix from the ARS frame to the world frame.

The attitude reference system frame has +x forward, +y right and +z down, whereas our world frame has +x forward, +y left and +z up: https://github.com/mjbots/pi3hat/blob/ab632c82bd501b9fcb6f8200df0551989292b7a1/docs/reference.md#orientation

rotation_base_to_imu

Eigen::Matrix3d upkie::cpp::observers::BaseOrientation::Parameters::rotation_base_to_imu

Rotation matrix from the base frame to the IMU frame.

Default Upkie mounting orientation: USB connectors of the raspi pointing to the left of the robot (XT-30 of the pi3hat to the right)

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The documentation for this struct was generated from the following file:

• upkie/cpp/observers/BaseOrientation.h