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IMU: removing yaw from local imu transform when creating gravity links

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matlabbe
2020-04-10 19:24:45 -04:00
parent d6269bb5d6
commit 607dc67135
3 changed files with 4 additions and 2 deletions
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1
guilib/src/DatabaseViewer.cpp
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@@ -4195,6 +4195,7 @@ void DatabaseViewer::update(int value,
{
float roll,pitch,yaw;
gravityLink.begin()->second.transform().getEulerAngles(roll, pitch, yaw);
Eigen::Vector3d v = Transform(0,0,0,roll,pitch,0).toEigen3d() * -Eigen::Vector3d::UnitZ();
labelGravity->setText(QString("x=%1 y=%2 z=%3").arg(v[0]).arg(v[1]).arg(v[2]));
labelGravity->setToolTip(QString("roll=%1 pitch=%2 yaw=%3").arg(roll).arg(pitch).arg(yaw));
}