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refactor(holistic_fusion): remove the holistic yaw factor - #56
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…orld The holistic yaw factor took the Euler yaw of R_M_S = R_W_M^-1 * R_W_S. With a tilted fixed frame M, that yaw is about the z-axis of M, so the factor pulled on the roll and pitch of the state, which gravity observes. The yaw of S is now taken in the world, relative to the yaw of R_W_M. This assumes a level M. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
# Conflicts: # docs/docs_src/read_the_docs/9_changelog.md
nubertj
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Oct 9, 2026
nubertj
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October 9, 2026 01:00
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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A yaw in a tilted fixed frame has no clear meaning. addUnaryYawAbsoluteMeasurement() is again the classic yaw factor in the world frame. Orientation measurements in a fixed frame use addUnaryHeadingAbsoluteMeasurement(). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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nubertj
added this pull request to stack #58
October 9, 2026 01:32
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Main change
addUnaryYawAbsoluteMeasurement()is again the classic yaw factor in the world frame.addUnaryYawAbsoluteClassicMeasurement()is removed.addUnaryHeadingAbsoluteMeasurement()from holistic_fusion#55 (heading factor that is defined for every attitude).Test plan
yaw_factor_teststill covers the classic yaw factor.🤖 Generated with Claude Code. Co-authored with @nubertj.