[Rock-dev] RidigBodyState

[Alexander Duda]

On 07/15/2012 12:35 PM, Satia Herfert wrote:
> Hi,
>
> how can I simply set an new yaw-Angle inside a RigidBodyState? It has an
> quaternion for its orientation and sadly I don't understand the meaning
> of the 4 values the quaternion-constructor needs.
>
> I would like to simply change the yaw-angle and leave roll and pitch
> untouched...
>
> Thanks in advance
> Satia
> _______________________________________________
>

You can find some nice documentation about Quaternions here:
http://www.ogre3d.org/tikiwiki/tiki-index.php?page=Quaternion+and+Rotation+Primer

Here is a small example how to use quaternions in rock (Eigen)
         base::Matrix3d m;
         m = Eigen::AngleAxisd(nav.heading, base::Vector3d::UnitZ())*
             Eigen::AngleAxisd(nav.pitch, base::Vector3d::UnitY())*
             Eigen::AngleAxisd(nav.roll, base::Vector3d::UnitX());
         rigid_body_state.orientation = base::Quaterniond(m);

Alex

-- 
Dipl.-Ing. Alexander Duda
Unterwasserrobotik

DFKI Bremen
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