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On 15.10.2012 10:31, Javier Hidalgo Carrió wrote:
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<div class="moz-cite-prefix">On 10/15/2012 10:24 AM, Matthias
Goldhoorn wrote:<br>
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Morning,<br>
seems reasonable :D<br>
<br>
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reasonable? The pitch is pointing down in the rigidbodystate
visualization on the right while pointing up (to the sky) in the
OrientationView widget (left)...<br>
Should not it point downwards?<br>
</blockquote>
was a joke, the rbs viz in vizkit3d should be correct, please check
if the error cames from the ArtificialHorizon widget itself.<br>
I just checked the widget itself:<br>
<br>
irb(main):004:0> w = Vizkit.default_loader.ArtificialHorizon<br>
irb(main):011:0> w.setPitch(10.0/180*Math::PI)<br>
irb(main):013:0> Vizkit.process_events<br>
<br>
And the view looks "up", this means it's wrong. you could correct
this inside of the widget itself.<br>
If needed an this "y-forward" flag to the ruby implementation of the
widget (defaulf of).<br>
<br>
Matthias<br>
<br>
<blockquote cite="mid:507BC9F6.5070206@dfki.de" type="cite"> <br>
Javier.<br>
<blockquote cite="mid:507BC845.7040504@dfki.de" type="cite"> no,
seriously: currently i don't have an imu, but i think i remeber
this occured also on the sauc-e but we ignored this... (or added
an - sign to the widget)...<br>
<br>
Matthias<br>
<br>
On 15.10.2012 10:20, Javier Hidalgo Carrió wrote:
<blockquote cite="mid:507BC757.9070702@dfki.de" type="cite">
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Here a picture of the inconsistency of these frames in rock.<br>
<br>
Javier.<br>
<div class="moz-forward-container"><br>
<br>
-------- Original Message --------
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cellpadding="0" cellspacing="0">
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<th align="RIGHT" nowrap="nowrap" valign="BASELINE">Subject:
</th>
<td>[Rock-dev] OrientationView Widget - Unclear
coordinate system</td>
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<th align="RIGHT" nowrap="nowrap" valign="BASELINE">Date:
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<td>Fri, 12 Oct 2012 20:06:38 +0200</td>
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<tr>
<th align="RIGHT" nowrap="nowrap" valign="BASELINE">From:
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<td>Javier Hidalgo Carrió <a moz-do-not-send="true"
class="moz-txt-link-rfc2396E"
href="mailto:javier.hidalgo_carrio@dfki.de"><javier.hidalgo_carrio@dfki.de></a></td>
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<th align="RIGHT" nowrap="nowrap" valign="BASELINE">Organization:
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<td>DFKI - Robotics Innovation Center</td>
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<th align="RIGHT" nowrap="nowrap" valign="BASELINE">To:
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<td><a moz-do-not-send="true"
class="moz-txt-link-abbreviated"
href="mailto:rock-dev@dfki.de">rock-dev@dfki.de</a></td>
</tr>
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<br>
<br>
<pre>Hi,
The OrientationView Widget of rock does not follow the standard rock
coordinate frame. (x pointing forward, y pointing left and z pointing
up) and the right-handed positive rotation.
<a moz-do-not-send="true" class="moz-txt-link-freetext" href="http://en.wikipedia.org/wiki/Cartesian_coordinate_system#In_three_dimensions">http://en.wikipedia.org/wiki/Cartesian_coordinate_system#In_three_dimensions</a>
For example, if we have a negative pitch angle (along Y-axis) following
right-handle positive rotation the widget should depict the pitch up
w.r.t a level position (because is negative) and right now the
representation is down.
Could someone verify this and tell us where is this representation made?
Thanks,
Javier.
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<pre class="moz-signature" cols="72">--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
Zentrale: +49 421 178 45-6550
Fax: +49 421 178 45-4150
E-Mail: <a moz-do-not-send="true" class="moz-txt-link-abbreviated" href="mailto:matthias.goldhoorn@uni-bremen.de">matthias.goldhoorn@uni-bremen.de</a>
Weitere Informationen: <a moz-do-not-send="true" class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a></pre>
</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Javier Hidalgo Carrió
ESA - NPI Programme
Researcher
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
<a moz-do-not-send="true" class="moz-txt-link-freetext" href="http://robotik.dfki-bremen.de">http://robotik.dfki-bremen.de</a>
Phone:+49(0)421 17845 6661
Fax: +49(0)421 17845 4150
</pre>
</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
Zentrale: +49 421 178 45-6550
Fax: +49 421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:matthias.goldhoorn@uni-bremen.de">matthias.goldhoorn@uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a></pre>
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