[ODE] dRFromEulerAngles interpretation

Kosei Demura kosei.demura at gmail.com
Tue Oct 10 16:25:12 MST 2006

Dear All,

I think that dRFromEulerAngles looks like an euler angle based on the Nasa
Standard Aerospace as shown in

I uses ODE for my educational materials in our robotics department, and I
have some problems about dRFromEulerAngles. Because it is not a standard
euler angle in Robotics.

In robotics, there are 12 euler angles. So, please name APIs like
dRFromXYZEulerAngles, dRFromXZYEulerAngles, dRFromYXZEulerAngles,
dRFromZXYEulerAngles, dRFromZYXEulerAngles, dRFromXYXEulerAngles,
dRFromYXYEulerAngles, dRFromYZYEulerAngles, dRFromZXZEulerAngles,

I think those APIs are very clear for everyone.



2006/10/11, Jon Watte (ODE) <hplus-ode at mindcontrol.org>:
> Mauro G. Todeschini wrote:
> > Yes I agre with you: I don't know if It is used internally in ODE but
> > the function has been like this for a long time probably and It is not a
> > good idea to change It (and break users applications). It's a good idea
> Some breaking changes are necessary. let's change the name of the
> function, and remove the old function, so people will notice the
> difference. Keeping a broken API is seldom the best idea.
> Cheers,
>                         / h+
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