Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.cpp
- Revision:
- 86:cc2c0025d820
- Parent:
- 84:fb14acabefd3
- Child:
- 88:06d5b2cc5e20
--- a/solaESKF.cpp Wed Jul 13 05:08:01 2022 +0000 +++ b/solaESKF.cpp Tue Dec 20 06:24:27 2022 +0000 @@ -652,16 +652,24 @@ return dynAcc; } -Vector3f solaESKF::calcVb() +Vector3f solaESKF::vector2Body(Vector3f veci) { Matrix3f dcm; computeDcm(dcm, qhat); Matrix3f tdcm = dcm.transpose(); - Vector3f Vb = tdcm*vihat; - return Vb; + return tdcm*veci ; } +Vector3f solaESKF::vector2NED(Vector3f vecb) +{ + Matrix3f dcm; + computeDcm(dcm, qhat); + + return dcm*vecb; +} + + void solaESKF::setGravity(float gx,float gy,float gz) {