pose

Current orientation and position estimate

Description

[position,orientation,velocity] = pose(FUSE) returns the current estimate of the pose of the object tracked by FUSE, an insfilterErrorState object.

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

Input Arguments

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insfilterErrorState, specified as an object.

Output orientation format, specified as either 'quaternion' for a quaternion or 'rotmat' for a rotation matrix.

Data Types: char | string

Output Arguments

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Position estimate in the local NED coordinate system in meters, returned as a 3-element row vector.

Data Types: single | double

Orientation estimate in the local NED coordinate system, returned as a scalar quaternion or 3-by-3 rotation matrix, depending on the specified orientation format. The quaternion or rotation matrix represents a frame rotation from the local NED reference frame to the body reference frame.

Data Types: single | double | quaternion

Velocity estimate in the local NED coordinate system 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™.

Introduced in R2019a