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Published 20 hours ago • verified publisher icon robotology

iDynTree::Rotation : Extend setters/getters of RPY to handle other RPY conventions

Open traversaro opened this issue 9 years ago • 2 comments
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There are a lot of Euler Angles / RPY convention out there. For now we just defined our convention to be compatible with an existing KDL method for compatibility (see http://wiki.icub.org/codyco/dox/html/idyntree/html/classiDynTree_1_1Rotation.html#a8a09f91f852dfc6eef646cdf737cb572 ), but we should provide a self-contained precise definition of the function and add support for the most used convention.

The most unambiguous way of defining the behaviour of the method is probably to just write the rotation matrix as function of the three angles in input in the doxygen documentation.

Thanks to @mfocchi and @gtournois for the feedback.

traversaro avatar Dec 02 '15 16:12 traversaro

I think https://www.astro.rug.nl/software/kapteyn/_downloads/attitude.pdf could be a good reference document to refer to for implementing the different Euler angles / RPY conventions.

traversaro avatar Apr 21 '16 07:04 traversaro

Relevant YARP issue : https://github.com/robotology/yarp/issues/635 .

One problem not addressed in https://www.astro.rug.nl/software/kapteyn/_downloads/attitude.pdf that in the past caused problem when working with Eigen eulerAngles function is that to fully define a chart of SO(3) suitable ranges for the euler angles should be defined.

traversaro avatar Apr 21 '16 07:04 traversaro