Closed MoBaT closed 5 years ago
I figured it out:
For example, if you have MrMC, I am interpreting it as taking a camera point and putting it in imu space. If I have a qCM, I am interpreting it as taking an imu point and putting it in camera space.
So putting a negative on the w() value of qMC inverts it so it reads as taking an imu point and putting it in camera therefore making them both: camToImu
I was wondering why the w() value in every quaternion in RovioNode.hpp has a negative sign on it.