[Rock-dev] Fwd: OrientationView Widget - Unclear coordinate system

[Javier Hidalgo Carrió]

On 10/15/2012 10:24 AM, Matthias Goldhoorn wrote:
> Morning,
> seems reasonable :D
>
reasonable? The pitch is pointing down in the rigidbodystate 
visualization on the right while pointing up (to the sky) in the 
OrientationView widget (left)...
Should not it point downwards?

Javier.
> 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)...
>
> Matthias
>
> On 15.10.2012 10:20, Javier Hidalgo Carrió wrote:
>> Here a picture of the inconsistency of these frames in rock.
>>
>> Javier.
>>
>>
>> -------- Original Message --------
>> Subject: 	[Rock-dev] OrientationView Widget - Unclear coordinate system
>> Date: 	Fri, 12 Oct 2012 20:06:38 +0200
>> From: 	Javier Hidalgo Carrió <javier.hidalgo_carrio at dfki.de>
>> Organization: 	DFKI - Robotics Innovation Center
>> To: 	rock-dev at dfki.de
>>
>>
>>
>> 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.
>> http://en.wikipedia.org/wiki/Cartesian_coordinate_system#In_three_dimensions
>>
>> 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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>>
>>
>>
>>
>>
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>
>
> -- 
>   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:matthias.goldhoorn at uni-bremen.de
>
>   Weitere Informationen:http://www.informatik.uni-bremen.de/robotik


-- 
Javier Hidalgo Carrió
ESA - NPI Programme
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
http://robotik.dfki-bremen.de

Phone:+49(0)421 17845 6661
Fax: +49(0)421 17845 4150

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