def _process(self, g, m):
z = g / vectors.norm(g)
x = m - (z * vectors.dot(m, z))
x /= vectors.norm(x)
y = vectors.cross(z, x)
return Quaternion.fromVectors(x, y, z)
def _process(self, g, m):
z = g / vectors.norm(g)
x = m - (z * vectors.dot(m, z))
x /= vectors.norm(x)
y = vectors.cross(z, x)
return Quaternion.fromVectors(x, y, z)
def _process(self, g, m):
"""
Estimate the orientation Quaternion from the observed vectors.
@param g: the observed gravitational field vector (3x1 L{np.ndarray})
@param m: the observed magnetic field vector (3x1 L{np.ndarray})
@return: The estimated orientation L{Quaternion}
"""
z = g / vectors.norm(g)
y = vectors.cross(z, m)
y /= vectors.norm(y)
x = vectors.cross(y, z)
return Quaternion.fromVectors(x, y, z)
def _process(self, g, m):
"""
Estimate the orientation Quaternion from the observed vectors.
@param g: the observed gravitational field vector (3x1 L{np.ndarray})
@param m: the observed magnetic field vector (3x1 L{np.ndarray})
@return: The estimated orientation L{Quaternion}
"""
z = g / vectors.norm(g)
y = vectors.cross(z, m)
y /= vectors.norm(y)
x = vectors.cross(y, z)
return Quaternion.fromVectors(x, y, z)
