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Relative Rotation Between two Quaternions

asked 2011-05-31 07:47:39 -0500

Subodh gravatar image

updated 2011-05-31 07:53:39 -0500

kwc gravatar image

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?

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answered 2011-05-31 09:34:37 -0500

Wim gravatar image

updated 2011-06-01 18:26:29 -0500

kwc gravatar image

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.

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answered 2011-05-31 08:07:55 -0500

updated 2011-05-31 09:14:55 -0500

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.

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answered 2011-05-31 09:06:21 -0500

Subodh gravatar image

Are you sure tf::Quaternion is a valid data type? This is not working.

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Comments

I updated the original post with more info. tf::Quaternion is a valid datatype. When you say it doesn't work, do you mean in doesn't compile? Or that it runs, but it doesn't produce the desired rotation?
Ivan Dryanovski gravatar imageIvan Dryanovski ( 2011-05-31 09:15:55 -0500 )edit

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Asked: 2011-05-31 07:47:39 -0500

Seen: 8,513 times

Last updated: Jun 01 '11