[Rock-dev] RidigBodyState

[Felix Rehrmann]

Hi,

in addition there is a function eulerAngles in eigen to get the rotation 
in euler angles which is unfortunately not mentioned in the tutorials.

See 
http://eigen.tuxfamily.org/dox/group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a 


Felix

Am 16.07.2012 12:13, schrieb 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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  Felix Rehrmann
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