pose

Current orientation and position estimate for insfilterNonholonomic

collapse all in page

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.

example

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

Examples

collapse all

Open Live Script

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

filter = insfilterNonholonomic(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
      0.99751 + 0.049875i + 0.049875j +        0k


velocity = 1×3

   -0.1000   -0.1000    0.8810

Input Arguments

collapse all

insfilterNonholonomic, 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

collapse all

Position estimate expressed in the local coordinate system of the filter in meters, returned as a three-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

expand all

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

Version History

Introduced in R2018b

See Also

|