Function ouster::sdk::core::get_rot_matrix_to_align_to_gravity¶
Defined in File pose_util.h
Function Documentation¶
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Eigen::Matrix3d ouster::sdk::core::get_rot_matrix_to_align_to_gravity(double accel_x, double accel_y, double accel_z, bool fix_yaw = true)¶
Computes the rotation matrix needed to align an acceleration vector with the gravity axis [0, 0, 1].
- Parameters:
accel_x[in] x-component of acceleration.
accel_y[in] y-component of acceleration.
accel_z[in] z-component of acceleration.
fix_yaw[in] If true, apply a counter-yaw so heading is neutralized. If false, return the shortest gravity-alignment rotation without forcing yaw.
- Returns:
3x3 rotation matrix.