[ODE] Rotation matrix and Euler Angles - Easy
holger.urbanek at gmail.com
Wed Jul 5 00:33:48 MST 2006
Well I did a quick check, and without looking at the math I found two
1) The sign is wrong. It alway gets the negated result.
2) If you are only trning around one axis, ODE-conversion to and back agin
with yours gets it right (well, except the sign; see 1). But if you turn
around multiple axis, results differ significantly.
And another question from me the the ODE-Experts here:
RPY (roll pitch yaw) and Euler are somehow different. And there exist many
(12 to be exact) Euler representations. What is ODE using when stating
On 7/5/06, Alex Green <alexg at acfr.usyd.edu.au> wrote:
> G'day, I used the following code, hope it helps!
> //! Find Roll Pitch and Yaw
> // rotation Matrix then convert to Euler Angles
> dReal *R = (dReal *) dBodyGetRotation(body->bodyID);
> roll = atan2(R, R); //phi
> pitch = asin(-R); //theta
> yaw = atan2(R, R); //greek Y
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