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

[Matthias Goldhoorn]

On 28.11.2013 09:19, Javier Hidalgo Carrió wrote:
>>> If so you have to check that you meet their requirements for their 
>>> license in the first place (there are no grants, etc...). 
>>> Furthermore, I guess there was a good reason to change the behavior 
>>> in 3.2. Therefore, we should also use the new version and only fix 
>>> the output for raw,yaw,pitch.
> +1 Since Eigen is the main algebra library in rock. We should play 
> nice with it.
> Please, remember that we never agreed that Euler angles is the main 
> convention to propagate rotations. As far as I know quaternions is the 
> convention for that. Therefore, it is not a big deal. The rock 
> convention (yaw, pitch and roll with [-pi, pi] [-pi/2, pi/2] [-pi,pi]) 
> would only apply when displaying rotations (i.e: ruby plotting and 
> orientation vizkit plugin). Suggestion: Why we do not make this 
> getEuler in the ruby side and no as C++ method?
Also you using the extraction (not from base types) to get eulers within 
your filter code. Of course the way to represent orientations are 
quaternions. But sometimes you need euler as you already know. So from 
my point, if someone would again refractor this method it should be done 
in c++ and there should be a ruby binding for this.

Maybe some of you could propose a solution that uses eigen for doing the 
conversion, so that we then discuss this solution?

Matthias
>
> Javier.
>> -1 for doing later conversion. Maybe the function could directly 
>> used, but i'm not sure about this.
>> If you propose another solution we could discuss this, but i'm 
>> against a "after eigen computes this we invert again all axis" solution.
>>
>>
>> Matthias


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  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

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