Thanks for reporting the behavior change in eigen 3.2.
On 11/22/2013 02:53 PM, Matthias Goldhoorn wrote: > 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 There is this defined? I think the definition is [-pi,+pi] for yaw [-pi/2,+pi/2] for pitch and [-pi,+pi] for roll otherwise you cannot describe an upside down situation. > 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. There are hole articles about converting rotation to euler because of gimbal lock etc. which have to be taken into account. Therefore, I kind of dislike that we are not using the conversion routine from eigen. As far I can see it you only have to add pi to all axies if one gets outside its interval. Or do I miss something? Alex > 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.-Ing. Alexander Duda Unterwasserrobotik DFKI Bremen Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Phone: +49 (0)421 178-456620 Fax: +49 (0)421 178-454150 E-Mail: [email protected] Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3 _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
