On 11/27/2013 02:17 PM, Matthias Goldhoorn wrote: > 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. This is what I do not like about the fix. It is changing a public API without having a good reason. Everyone using toEuler on the ruby side has now to change his code.
> @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... You copied the code from eigen 3.1? If so you have to check that you meet their requirements for their license in the first place (there are no grants, etc...). Furthermore, I guess there was a good reason to change the behavior in 3.2. Therefore, we should also use the new version and only fix the output for raw,yaw,pitch. Alex > > P.S. @Javier, please do not git pull if the remote i's newer, there > are uneeded merges in base/types... > -- 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
