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. 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 -- 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: [email protected] Weitere Informationen: http://www.informatik.uni-bremen.de/robotik _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
