That is the expected behavior. Fixed axis about XYZ has the same values for yaw, pitch, and roll as euler angles about the axes ZYX in that order, where yaw is about Z, pitch is about Y, and roll is about X.

Tully

PS:

I'm assuming you mistyped getEulerYPR as getEulerRPY which is what getRPY calls.

{{{

void getRPY(btScalar& roll, btScalar& pitch, btScalar& yaw, unsigned int solution_number = 1) const

{

getEulerYPR(yaw, pitch, roll, solution_number);

}

}}}

On Fri, Apr 30, 2010 at 12:17 PM, Ivan Dryanovski <ivan.dryanovski@gmail.com> wrote:

Hi all,

According to http://www.ros.org/wiki/tf/RotationMethods#btMatrix3x3
the btMatrix3x3 should support retrieving the roll pitch and yaw in
both Fixed and Euler representations. However, when I looked in the
header file in the bullet folder, the getRPY() method simply calls to
getEulerRPY(). The two result in the same angles, only in reversed
order. Is there an inconsistency between the tutorial and the code, or
am I misinterpreting Euler vs Fixed rotations?

Thanks,
Ivan Dryanovski
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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827