[ros-users] tf and quaternions

[Armin Hornung]

Hi!

On 01/11/2011 01:56 PM, Raphael Favier wrote:
> I finally started to get something working using KDL and its rotation
> objects. Thanks!
> Still, there are a few cases when the value of yaw pitch and roll cannot be
> guessed.
>
> Anyway, all I wanted to do was to get the Z rotation value of one observed
> frame. If feels strange to have gone all the way with using KDL for that.

Did you have a look at <tf/transform_datatypes.h>? That's what I usually 
use for these transformations and it wraps most code nicely for you 
without depending on KDL.
"createQuaternionFromRPY" could be useful for you, and you can also use 
"quat.getRPY(roll, pitch,yaw)" as a tf::Quaternion is simply a bullet 
quaternion.


Cheers,
Armin

-- 
Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga