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I want to find a relative rotation between two quaternions quatA and quatB, i.e. quatC is a quaternion rotation that if applied to quatA would result in quatB. Is there a command/library in ROS which does this? Will tf be of any help?
There is a Python version of the KDL library (PyKDL), which allows you to do all sorts of conversions between rotation representations. An example would look like this:
import PyKDL
a = PyKDL.Rotation.Quaternion(x, y, z, w)
b = PyKDL.Rotation.Quaternion(x, y, z, w)
c = a * b.Inverse()
c.GetQuaternion() # get quaternion result
c.GetRPY() # get roll pitch yaw result
c.GetEulerZYX() # get euler angle result in zyx format
There is a small tutorial here that will give you some more background.
Try using tf::Quaterion. You need to include the following line in the manifest.xml file of your pacakge:
<depend package="tf"/>
This should compile:
#include <tf/transform_datatypes.h>
tf::Quaternion a, b, c;
c = b * a.inverse();
I assume it will do what you're asking for, but you should double-check that.
Are you sure tf::Quaternion is a valid data type? This is not working.
Asked: 2011-05-31 07:47:39 -0500
Seen: 12,126 times
Last updated: Jun 01 '11
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