[ros-users] btMatrix3x3 rotations: Fixed angles vs Euler angles

Ivan Dryanovski ivan.dryanovski at gmail.com
Fri Apr 30 19:17:04 UTC 2010

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?

Ivan Dryanovski

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