Add reference to documentation

ami-iit · Jan 22, 2024 · a665e51 · a665e51
1 parent 45d45ba
commit a665e51
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/Estimators/src/UkfModel.cpp b/src/Estimators/src/UkfModel.cpp
@@ -151,6 +151,8 @@ bool UkfModel::updateState()
  m_kinDynWrapperList[subModelIdx]->getFrameVel(
  value.frame));
 
+ // See reference: https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf
+ // Paragraph 4.4.2
  m_baseAcceleration.coeffs().head(3).noalias()
  = baseHimu.rotation() * m_accMap[key]
  - m_bOmegaIB.cross(m_bOmegaIB.cross(baseHimu.translation()));