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pose

Current orientation and position estimate for insfilterMARG

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Syntax

[position,orientation,velocity] = pose(FUSE)
[position,orientation,velocity] = pose(FUSE,format)

Description

[position,orientation,velocity] = pose(FUSE) returns the current estimate of the pose and velocity.

example

[position,orientation,velocity] = pose(FUSE,format) returns the current estimate of the pose with orientation in the specified orientation format.

Examples

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Open Live Script

Create an insfilterMARG object and set its sample rate to 10 Hz.

filter = insfilterMARG(IMUSampleRate=10);

Predict the state of the filter based on an accelerometer reading of [1 1 1] m/s2 and a gyroscope reading of [1 1 0] rad/s. 

predict(filter,[1 1 1],[1 1 0]);

Obtain pose from the filter state.

[position,orientation,velocity] = pose(filter)
position = 1×3

     0     0     0


orientation = quaternion
      0.99938 + 0.024995i + 0.024995j +        0k


velocity = 1×3

   -0.0500   -0.0500    0.4405

Input Arguments

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insfilterMARG, specified as an object.

Output orientation format, specified as either 'quaternion' for a quaternion or 'rotmat' for a rotation matrix.

Data Types: char | string

Output Arguments

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Position estimate expressed in the local coordinate system of the filter in meters, returned as a 3-element row vector.

Data Types: single | double

Orientation estimate expressed in the local coordinate system of the filter, returned as a scalar quaternion or 3-by-3 rotation matrix. The quaternion or rotation matrix represents a frame rotation from the local reference frame of the filter to the body reference frame.

Data Types: single | double | quaternion

Velocity estimate expressed in the local coordinate system of the filter in m/s, returned as a 3-element row vector.

Data Types: single | double

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2018b

See Also

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