[Rock-dev] Fwd: OrientationView Widget - Unclear coordinate system

[Matthias Goldhoorn]

On 15.10.2012 10:31, Javier Hidalgo Carrió wrote:
> On 10/15/2012 10:24 AM, Matthias Goldhoorn wrote:
>> Morning,
>> seems reasonable :D
>>
> reasonable? The pitch is pointing down in the rigidbodystate 
> visualization on the right while pointing up (to the sky) in the 
> OrientationView widget (left)...
> Should not it point downwards?
was a joke, the rbs viz in vizkit3d should be correct, please check if 
the error cames from the ArtificialHorizon widget itself.
I just checked the widget itself:

irb(main):004:0> w = Vizkit.default_loader.ArtificialHorizon
irb(main):011:0> w.setPitch(10.0/180*Math::PI)
irb(main):013:0> Vizkit.process_events

And the view looks "up", this means it's wrong. you could correct this 
inside of the widget itself.
If needed an this "y-forward" flag to the ruby implementation of the 
widget (defaulf of).

Matthias

>
> Javier.
>> no, seriously: currently i don't have an imu, but i think i remeber 
>> this occured also on the sauc-e but we ignored this... (or added an - 
>> sign to the widget)...
>>
>> Matthias
>>
>> On 15.10.2012 10:20, Javier Hidalgo Carrió wrote:
>>> Here a picture of the inconsistency of these frames in rock.
>>>
>>> Javier.
>>>
>>>
>>> -------- Original Message --------
>>> Subject: 	[Rock-dev] OrientationView Widget - Unclear coordinate system
>>> Date: 	Fri, 12 Oct 2012 20:06:38 +0200
>>> From: 	Javier Hidalgo Carrió <javier.hidalgo_carrio at dfki.de>
>>> Organization: 	DFKI - Robotics Innovation Center
>>> To: 	rock-dev at dfki.de
>>>
>>>
>>>
>>> Hi,
>>>
>>> The OrientationView Widget of rock does not follow the standard rock
>>> coordinate frame. (x pointing forward, y pointing left and z pointing
>>> up) and the right-handed positive rotation.
>>> http://en.wikipedia.org/wiki/Cartesian_coordinate_system#In_three_dimensions
>>>
>>> For example, if we have a negative pitch angle (along Y-axis) following
>>> right-handle positive rotation the widget should depict the pitch up
>>> w.r.t a level position (because is negative) and right now the
>>> representation is down.
>>>
>>> Could someone verify this and tell us where is this representation made?
>>>
>>> Thanks,
>>>
>>> Javier.
>>>
>>> _______________________________________________
>>> Rock-dev mailing list
>>> Rock-dev at dfki.de
>>> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>>>
>>>
>>>
>>>
>>>
>>> _______________________________________________
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>>
>>
>> -- 
>>   Dipl.-Inf. Matthias Goldhoorn
>>   Space and Underwater Robotic
>>
>>   Universität Bremen
>>   FB 3 - Mathematik und Informatik
>>   AG Robotik
>>   Robert-Hooke-Straße 5
>>   28359 Bremen, Germany
>>
>>   Tel.:     +49 421 178 45-4193
>>   Zentrale: +49 421 178 45-6550
>>   Fax:      +49 421 178 45-4150
>>   E-Mail:matthias.goldhoorn at uni-bremen.de
>>
>>   Weitere Informationen:http://www.informatik.uni-bremen.de/robotik
>
>
> -- 
> Javier Hidalgo Carrió
> ESA - NPI Programme
> Researcher
>
> DFKI Bremen
> Robotics Innovation Center
> Robert-Hooke-Straße 5
> 28359 Bremen, Germany
> http://robotik.dfki-bremen.de
>
> Phone:+49(0)421 17845 6661
> Fax: +49(0)421 17845 4150
>


-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4193
  Zentrale: +49 421 178 45-6550
  Fax:      +49 421 178 45-4150
  E-Mail:   matthias.goldhoorn at uni-bremen.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik

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