[Rock-dev] Change in Eigen 3.2 which breaks the base types (and maybe other packages like orientation estimator)

[Alexander Duda]

Thanks for reporting the behavior change in eigen 3.2.


On 11/22/2013 02:53 PM, Matthias Goldhoorn wrote:
> I just pushed a update for the base/types/Pose.hpp
> the implementation of euler changed in eigen:
>
> http://eigen.tuxfamily.org/dox/group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a
>
> The returned vector is in in form of:  [0:pi]x[0:pi]x[-pi:pi].
>
> before there was no definition for that.
> so far we in rock assumed that the vector is in: (-pi,pi),
> (-pi/2,pi/2),(-pi/2,pi/2), since the conversion would be more
There is this defined? I think the definition is [-pi,+pi] for yaw 
[-pi/2,+pi/2] for pitch and [-pi,+pi] for roll otherwise you cannot 
describe an upside down situation.

> complicated that the manual calculation i added a new to euler helper
> method to the pose which does the conversion like the old eigen code (up
> to 3.1) does.
There are hole articles about converting rotation to euler because of 
gimbal lock etc. which have to be taken into account. Therefore, I kind 
of dislike that we are not using the conversion routine from eigen. As 
far I can see it you only have to add pi to all axies if one gets 
outside its interval. Or do I miss something?

Alex

> But if you call the eigen method within your code manually take respect
> to this change. The new version is pushed to master only so far.
>
> The testsuite passes...
>
> Matthias
>


-- 
Dipl.-Ing. Alexander Duda
Unterwasserrobotik

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