[ros-users] Design decisions behind libTF...?

Adolfo Rodríguez Tsouroukdissian adolfo.rodriguez at pal-robotics.com
Fri Sep 10 08:17:28 UTC 2010

> It would also be nice if we could all agree that yaw, pitch, and roll
> are not angles but angular rates. The names of the angles are heading,
> elevation and bank angle, as per "Quaternions and Rotation Sequences" by
> Jack B. Kuipers page 85. That however would probably require fixing this
> page which is just a disaster but sort of explains the scope of the
> problem. http://en.wikipedia.org/wiki/Talk:Yaw,_pitch,_and_roll

Maybe in aerial robotics there is a different convention for naming
orientations and angular rates, but that does not make it _wrong_ to call it
differently in other application domains. In fact, it is not uncommon in the
general robotics literature to use the terms roll, pitch and yaw  to refer
to a specific Euler/fixed angle combination (c.f. Section 2.8 of Craig's
Introduction to Robotics, citation below, for an example). The important
thing is to document unambiguously the used conventions.

author = {Craig, John J.},
title = {Introduction to Robotics: Mechanics and Control, 2nd Ed},
year = {1989},
publisher = {Addison-Wesley Longman Publishing Co., Inc.},
address = {Boston, MA, USA},


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Adolfo Rodríguez Tsouroukdissian, Ph. D.

Robotics engineer
Tel. +34.93.414.53.47
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