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+ issue #0002007: Base::Rotation::get/setYawPitchRoll uses wrong euler convention

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This commit is contained in:
wmayer 2015-03-15 18:53:03 +01:00
parent b007bd19e4
commit 0950b33014
1 changed files with 12 additions and 10 deletions
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22
src/Base/Rotation.cpp
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@ -377,14 +377,18 @@ Rotation Rotation::identity(void)
void Rotation::setYawPitchRoll(double y, double p, double r)
{
// taken from http://www.resonancepub.com/quaterni.htm
// The Euler angles (yaw,pitch,roll) are in ZY'X''-notation
double c1 = cos(((y/180.0)*D_PI)/2.0);
double s1 = sin(((y/180.0)*D_PI)/2.0);
double c2 = cos(((p/180.0)*D_PI)/2.0);
double s2 = sin(((p/180.0)*D_PI)/2.0);
double c3 = cos(((r/180.0)*D_PI)/2.0);
double s3 = sin(((r/180.0)*D_PI)/2.0);
// The Euler angles (yaw,pitch,roll) are in XY'Z''-notation
// convert to radians
y = (y/180.0)*D_PI;
p = (p/180.0)*D_PI;
r = (r/180.0)*D_PI;
double c1 = cos(y/2.0);
double s1 = sin(y/2.0);
double c2 = cos(p/2.0);
double s2 = sin(p/2.0);
double c3 = cos(r/2.0);
double s3 = sin(r/2.0);
quat[0] = c1*c2*s3 - s1*s2*c3;
quat[1] = c1*s2*c3 + s1*c2*s3;
@ -394,8 +398,6 @@ void Rotation::setYawPitchRoll(double y, double p, double r)
void Rotation::getYawPitchRoll(double& y, double& p, double& r) const
{
// taken from http://www.resonancepub.com/quaterni.htm
// see also http://willperone.net/Code/quaternion.php
double q00 = quat[0]*quat[0];
double q11 = quat[1]*quat[1];
double q22 = quat[2]*quat[2];