'compUpdate' update orientation with 3-axis acc and gyr data
Usage
compUpdate(acc, gyr, dt, initQuat, gain)
Arguments
- acc
A numeric 3-vector of 3-axis accelerometer readings in g
- gyr
A numeric 3-vector of 3-axis gyroscope readings in rad/sec
- dt
A numeric of time duration in sec
- initQuat
A numeric 4-vector of the starting orientation in quaternion
- gain
A numeric gain factor between 0 and 1
Value
A numeric 4-vector of the ending orientation in quaternion
Examples
compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)
#> [1] 0.99898767 0.04498481 0.00000000 0.00000000
