iDynTree/AttitudeEstimatorUtils.h file

Functions

auto checkValidMeasurement(const iDynTree::Vector3& in, const std::string& measurement_type, bool check_also_zero_vector) -> bool: check a valid measurement
auto getUnitVector(const iDynTree::Vector3& in, iDynTree::Vector3& out) -> bool: get unit vector
auto isVectorNaN(const iDynTree::Vector3& vec) -> bool: checks if vector has NaN values any element of vector is NaN implies a NaN vector
auto isZeroVector(const iDynTree::Vector3& vec) -> bool: checks if vector is a zero vector all elements of vector are zero implies a zero vector
auto crossVector(const iDynTree::Vector3& a, const iDynTree::Vector3& b) -> iDynTree::Vector3: computes the cross vector of two 3D vectors
auto mapR3Toso3(const iDynTree::Vector3& omega) -> iDynTree::Matrix3x3: computes skew-symmetric matrix ( space) for a given 3d vector ( space)
auto checkSkewSymmetricity(const iDynTree::Matrix3x3& S) -> bool: checks if the matrix is skew-symmetric

check a valid measurement

Returns	bool true/false

get unit vector

Returns	bool false if input vector has zero norm

checks if vector has NaN values any element of vector is NaN implies a NaN vector

Parameters
vec in	vector3
Returns	bool true/false

checks if vector is a zero vector all elements of vector are zero implies a zero vector

Parameters
vec in	vector3
Returns	bool true/false

computes the cross vector of two 3D vectors

computes skew-symmetric matrix ( space) for a given 3d vector ( space)

Parameters
omega in	3d vector (usually angular velocity)
Returns	iDynTree::Matrix3x3

checks if the matrix is skew-symmetric

Parameters
S in	matrix
Returns	bool true/false