On 25.11.2013 11:19, Sylvain Joyeux wrote: > On 11/23/2013 05:07 PM, Javier Hidalgo Carrió wrote: >> 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. > Yes, and in most cases they are equivalent. We decided, once upon a time > to "freeze" one as the default representation so that people that "just" > want angles don't have to pick one. >
@Alex: i think you are right, the result will ( and is already) yaw[2]:(-pi,pi), pitch[1]:(-pi,pi), roll[0]:(-pi/2,pi/2). @Javier: for simplification i only choose the one we are decided in rock for decomposition. @Alex (regarding gimbal lock) The current implementation is equivalent to the old eigen implementation. To be sure i don't do something else there. I would simply recover the old behavior. If you know a better solution feel free to add this. But nevertheless i don't know how the gimbal-lock problem yould appear for a quaternion->euler, if you have a counter example feel free to add it to the test suite and maybe improve the current implementation. If we could go back to the eigen implementation i would agree, but i don't like to "check if a axis is ontop and turn every-other one", then we could really do the calculation by our own... P.S. @Javier, please do not git pull if the remote i's newer, there are uneeded merges in base/types... -- 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
