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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
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Math for angular velocity #101

Closed aishanou closed 5 years ago

aishanou commented 5 years ago

Is there any documentation/paper to support the calculations going from dq to angular velocities in euler angles? Function fill_from_Angular_Velocity

fcolas commented 5 years ago

Well, dq is just the quaternion of the orientation difference between the two time steps. You can therefore convert to axis, angle representation and divide by the time interval.

Do you suspect there is an issue there?

aishanou commented 5 years ago

There is no issue. It was just not clear where it was coming from instead of the general. conversion https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles Anyways I verified that they are equivalent.