pose

Current position, orientation, and velocity estimate for insfilterAsync

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.

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

Examples

Obtain Pose from insfilterAsync

Create an insfilterAsync object.

filter = insfilterAsync;

Obtain pose from the filter state.

[position,orientation,velocity] = pose(filter)

position = 1×3

     0     0     0

orientation = quaternion
     1 + 0i + 0j + 0k

velocity = 1×3

     0     0     0

Input Arguments

FUSE — insfilterAsync object

object

insfilterAsync, 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