[Rock-dev] fixed quaternion assignment order in vicon driver

[Felix Rehrmann]

Hi all,

just wanted to notify all rock-users who are using the vicon driver, 
that there was a bug in the vicon driver which is fixed on master and on 
next, now.

The assignment order of the quaternion elements received from the vicon 
to the eigen quaternion was apparently wrong (the order of the elements 
in the vicon array is unfortunately not documented in sdk documentation, 
eigen(w,x,y,z) - vicon(x,y,z,w) ).
This error leads to an implicit 180° transformation around the z-axis 
when there
is no rotation and the body is rotating in the wrong direction around 
one axes.

Please let me or Javier know, if anybody gets trouble for his 
application with this fix.

All the best!
Felix

-- 

  Felix Rehrmann
  Researcher
  
  DFKI Bremen
  Robotics Innovation Center
  Robert-Hooke-Straße 5
  28359 Bremen, Germany
  
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  E-Mail: felix.rehrmann at dfki.de
  
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