In the update of angular_velocity, I found the process may be exist an error.
Should the variable "relRot" be in the following form?
relRot = (Eigen::Quaterniond)(predicted_rotation.coeffs() - rotation.coeffs()) * rotation.conjugate();
If I understand wrong, I'm sorry, and please tell me why. Thanks.
In the update of angular_velocity, I found the process may be exist an error.
Should the variable "relRot" be in the following form?
relRot = (Eigen::Quaterniond)(predicted_rotation.coeffs() - rotation.coeffs()) * rotation.conjugate();
If I understand wrong, I'm sorry, and please tell me why. Thanks.