Hi, I'm trying to reproduce your results on my own to make sure that I really understand your paper Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation.
When I look the kinematics.cpp, I find the quaternion of the imu_kinematic_measurements.txt is used in
q = Eigen::Quaternion<double>(stod98(measurement[i + 1]), stod98(measurement[i + 2]), stod98(measurement[i + 3]), stod98(measurement[i + 4]));
I do not understand where it means rotation from where to where. This is really strange to me. I would be really appreciated if you can answer this question for me.
Thank you so much in advance for your time!
Best
Sun
Hi, I'm trying to reproduce your results on my own to make sure that I really understand your paper Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation. When I look the kinematics.cpp, I find the quaternion of the imu_kinematic_measurements.txt is used in
q = Eigen::Quaternion<double>(stod98(measurement[i + 1]), stod98(measurement[i + 2]), stod98(measurement[i + 3]), stod98(measurement[i + 4]));I do not understand where it means rotation from where to where. This is really strange to me. I would be really appreciated if you can answer this question for me. Thank you so much in advance for your time! Best Sun