Loose-GNSS-IMU/Loose-GNSS-IMU/MatrixUtils.cpp
// A function to adjust attitude values in state vector to be between 0 to 2PI
A function to adjust attitude values in state vector to be between 0 to 2PI
A function to adjust attitude values in state vector to be between 0 to 2PI
void NormaliseAttitudeOnly(VectorXd& States) {
	States(0) = normalise(States(0), -PI / 2., PI / 2.);
	States(1) = normalise(States(1), -PI / 2., PI / 2.);
	States(2) = normalise(States(2), -PI, PI);
}
void NormaliseAttitudeOnly ( VectorXd & States ) { States ( 0 ) = normalise ( States ( 0 ) , - PI / 2. , PI / 2. ) ; States ( 1 ) = normalise ( States ( 1 ) , - PI / 2. , PI / 2. ) ; States ( 2 ) = normalise ( States ( 2 ) , - PI , PI ) ; }
A function to adjust attitude values in state vector to be between 0 to 2PI
A function to adjust attitude values in state vector to be between 0 to 2PI