Function mola::incremental_rotation

Function Documentation

mrpt::math::CMatrixDouble33 mola::incremental_rotation(const mrpt::math::TVector3D &w, const RotationIntegrationParams &params, double dt, const mrpt::optional_ref<mrpt::math::CMatrixDouble33> &D_incrR_integratedOmega = std::nullopt)

This takes a gyroscope measurement of the angular velocity (ω) and integrates it forward in time for a period dt [s] as:

Rot = Exp((ω-ω_{bias})·dt)