Hi, I have a question, what's exactly the definition of q in the code. I found there are conflicts about the definition of q:
In msf_statedef.hpp, the comment about q is "Rotation from the world frame to IMU frame"
In PropagateState(), the quaternion integration result is assigned directly to q, so I infer that the definition of q is also "Rotation from the world frame to IMU frame"
But In the code where q is used (such as line 380 in msf_core/include/msf_core/implementation/msf_core_inl.h), I infer that the definition of q must be "Ratation from the IMU frame to world frame"
These are really confusing me! Could you help me? @simonlynen, @markusachtelik, @burrimi, @ffurrer I'm eagerly looking forward to your reply, thank you!
Hi, I have a question, what's exactly the definition of q in the code. I found there are conflicts about the definition of q:
These are really confusing me! Could you help me? @simonlynen, @markusachtelik, @burrimi, @ffurrer I'm eagerly looking forward to your reply, thank you!