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

[Javier Hidalgo Carrió]

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
> 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.
I did not fully get the point. What is the problem of using 
toEulerAngles(a0, a1, a2) from Eigen?
The new euler helper (base::getEuler) only computes the euler angles in 
ZYX in this order.
There are multiple conventions for proper Euler angles.

Javier.

>
> 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
>