[Rock-dev] define quaternions and decomposition to euler

[Sylvain Joyeux]

On 11/30/2011 10:07 AM, Matthias Goldhoorn wrote:
> I wold like to define the quaternion<->euler conversion add these
> methods to base/eigen.h
>
> static double getPitch(const base::Orientation& orientation)
> {
> return orientation.toRotationMatrix().eulerAngles(2,1,0)[1];
> }
>
> static double getRoll(const base::Orientation& orientation)
> {
> return orientation.toRotationMatrix().eulerAngles(2,1,0)[2];
> }
>
>
> I looked at the ros-page to check how the quaternion is assembled there,
> they use an
>
> "... standard method is *euler angles* yaw, pitch, roll about ZYX
> respectively..."
> (see: http://www.ros.org/wiki/geometry/CoordinateFrameConventions)
>
> I would like to define this as an standard for rock too and add these
> methods and a few additional helper functions referring to this too.
>
> ... discussion start ...
+1 (with the corresponding RG added to 
http://rock.opendfki.de/wiki/WikiStart/Standards)

Sylvain