void AHRSClass::update(float dt) { getSensors(); MerayoCalibClass::apply(&scaledSensorData.x, &scaledSensorData.y, &scaledSensorData.z, &accCalibData); fuse(dt); transformOrientation(); }
geometry_msgs::Pose transformPose2(geometry_msgs::Pose pose_in, Eigen::Matrix4f tf){ geometry_msgs::Pose pose_out; pose_out.position = transformPoint(pose_in.position, tf); pose_out.orientation = transformOrientation(pose_in.orientation, tf); return pose_out; }