diff options
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/main.cpp b/src/main.cpp index 6cc4317..5d4ea71 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -31,7 +31,7 @@ using std::cerr; #else /* ----- not USE_ROS ----- */ void -covCallback(const message &msg, State &mu, const Quaternion<double> &q) +covCallback(const message &msg, State &mu, const Quaterniond &q) { if (seencov && seenutm && seenpva) return; seencov=true; @@ -49,7 +49,7 @@ imgCallback(const message *msg) } void -imuCallback(const message &msg, State &mu, const Quaternion<double> &q, const timestamp dt) +imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp dt) { if (!seenutm || !seenpva || !seencov || (dt.secs==0 && dt.nsecs==0)) return; Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z); @@ -63,7 +63,7 @@ imuCallback(const message &msg, State &mu, const Quaternion<double> &q, const ti } void -pvaCallback(const message &msg, State &mu, Quaternion<double> &q) +pvaCallback(const message &msg, State &mu, Quaterniond &q) { // Update quaternion using Eigen::AngleAxisd; @@ -76,7 +76,7 @@ pvaCallback(const message &msg, State &mu, Quaternion<double> &q) R = AngleAxisd(yaw, Vector3d::UnitZ()) * AngleAxisd(roll, Vector3d::UnitX()) * AngleAxisd(pitch, Vector3d::UnitY()); - q = Quaternion<double>(R); + q = Quaterniond(R); // Set body velocity if (!seenpva || !seencov || !seenutm) { @@ -217,7 +217,7 @@ int main(int argc, char **argv) { State mu; - Quaternion<double> qbw; + Quaterniond qbw; // bias in FRD coordinates Vector3d acc_bias; acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229; |