[Rock-dev] RidigBodyState

[Janosch Machowinski]

As Rock primary used Lib Eigen
I would suggest this documentation :
http://eigen.tuxfamily.org/dox/TutorialGeometry.html
Greetings
     Janosch

On 15.07.2012 19:58, Alexander Duda wrote:
> 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
>


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  Dipl. Inf. Janosch Machowinski
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