pose

Current orientation and position estimate for insfilterErrorState

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 of the object tracked by FUSE, an insfilterErrorState object.

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

Examples

Obtain Pose from insfilterErrorState

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

filter = insfilterErrorState(IMUSampleRate=10);

Predict the state of the filter based on an accelerometer reading of [1 1 1] $\mathrm{m}/{\mathrm{s}}^2$ 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

FUSE — INS filter object

insfilterErrorState

insfilterErrorState, specified as an object.

format — Output orientation format

'quaternion' (default) | 'rotmat'

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

Data Types: char | string

Output Arguments

position — Position estimate expressed in the local coordinate system (m)

3-element row vector

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 — Orientation estimate expressed in the local coordinate system

quaternion (default) | 3-by-3 rotation matrix

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 — Velocity estimate expressed in local coordinate system (m/s)

3-element row vector

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 R2019a