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

Tully Foote tfoote at willowgarage.com
Fri Apr 30 20:05:10 UTC 2010


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.


I'm assuming you mistyped getEulerYPR as getEulerRPY which is what getRPY
        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 at 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
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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