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This was referenced Feb 23, 2026
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| // Convert J[1] from quaternion space (15x4) to RPY space (15x3) using the | ||
| // pseudo-inverse of the quaternion-to-RPY Jacobian. | ||
| // Chain rule: J[1] = d(state2)/d(quat1) = d(state2)/d(rpy1) * d(rpy)/d(quat) | ||
| // So: d(state2)/d(rpy1) = J[1] * pinv(d(rpy)/d(quat)) | ||
| Eigen::Map<fuse_core::Matrix<double, 3, 4>> j_quat2rpy_map(jacobian_quat2rpy); | ||
| fuse_core::Matrix<double, 4, 3> j_quat2rpy_pinv = | ||
| j_quat2rpy_map.transpose() * (j_quat2rpy_map * j_quat2rpy_map.transpose()).inverse(); | ||
| fuse_core::Matrix<double, 15, 3> J1_rpy = J[1] * j_quat2rpy_pinv; | ||
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| jacobian << J[0], J1_rpy, J[2], J[3], J[4]; |
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LGTM broadly; do we need to add a case to cover the singular cases where pitch is +/ 90 degrees? I'd think that would mean the jacobian_quat2rpy would be undefined maybe, so it should perhaps be handled above
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It seems like before we were truncating the acceleration to make the matrix dimensions fit (dropping the az column) and now I think we should be properly converting from quaternion to RPY space using the pseudo-inverse of the quaternion-to-RPY jacobian.