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 > 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. I did not fully get the point. What is the problem of using toEulerAngles(a0, a1, a2) from Eigen? The new euler helper (base::getEuler) only computes the euler angles in ZYX in this order. There are multiple conventions for proper Euler angles.
Javier. > > 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 > _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
