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I wold like to define the quaternion<->euler conversion add
these methods to base/eigen.h<br>
<br>
static double getPitch(const base::Orientation& orientation)<br>
{<br>
return orientation.toRotationMatrix().eulerAngles(2,1,0)[1];<br>
}<br>
<br>
static double getRoll(const base::Orientation& orientation)<br>
{<br>
return orientation.toRotationMatrix().eulerAngles(2,1,0)[2];<br>
}<br>
<br>
<br>
I looked at the ros-page to check how the quaternion is assembled
there, they use an <br>
<br>
"... standard method is <strong>euler angles</strong> yaw, pitch,
roll about ZYX respectively.<span class="anchor" id="line-21"></span>.."<br>
(see: <a class="moz-txt-link-freetext" href="http://www.ros.org/wiki/geometry/CoordinateFrameConventions">http://www.ros.org/wiki/geometry/CoordinateFrameConventions</a>)<br>
<br>
I would like to define this as an standard for rock too and add
these methods and a few additional helper functions referring to
this too.<br>
<br>
... discussion start ...<br>
<br>
Greetings,<br>
Matthias<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Inf. Matthias Goldhoorn
Unterwasserrobotik
Hauptanschrift Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
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Phone: +49 (0)421 178 45-4193
Fax: +49 (0)421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:robotik@dfki.de">robotik@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
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