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                                            Mr_yy

question about solving the w_R_c0 in initial procedure

Sorry， I have not understood yet. I know the Z-axis in world frame is alone with the gravity vector([0,0,9.8]^T), but I can't understand how the yaw angle set zero. Can...

question about solving the w_R_c0 in initial procedure

@QMonteCarlo Thank you for your reply. Can you explain how the yaw angle set zero according to the code.

question about solving the w_R_c0 in initial procedure

@QMonteCarlo Thank you very much for you answer. But I have not understood clearly about the yaw2. The formular in the program should be yaw2 = yaw(Ry(pitch1)*Rx(roll1)*Rz(yaw_Rs)*Ry(pitch_Rs)*Rxz(roll_Rs)), I still doubt...