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How to transform between the quaternions ( or ERYs)

asked 2016-03-17 21:08:26 -0500

Henschel.X gravatar image

I know I can transform my quaternion to ERY, and it seems easier to transform between ERYs because it's more direct. For example, I have a vector X (x,y,z) and its ERY is (0,0,a), and I have another vector Y(x',y',z') and ERY is (0,0,b), if I want to get Y by doing RX+T, can I get the rotation matrix R and transformation matrix T by using TF's function? Or if its not possible, how can I compute this? Thx a lot!

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@henschelx, which parameterization is ERY ? (roll,pitch,yaw) ? For roscpp, you can have a look at tf::Transform::inverseTimes to get the difference between two tf::Transform objects. For rospy, tf.transformations.py provides several utilities to get numpy matrices for transforms

al-dev gravatar image al-dev  ( 2016-03-18 01:27:14 -0500 )edit

Thank you so much !

Henschel.X gravatar image Henschel.X  ( 2016-03-21 03:28:03 -0500 )edit

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answered 2016-03-21 11:43:20 -0500

al-dev gravatar image

Posting the comment above as an answer since it was accepted :

For roscpp, you can have a look at tf::Transform::inverseTimes to get the difference between two tf::Transform objects. For rospy, tf.transformations.py provides several utilities to get numpy matrices for transforms

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Asked: 2016-03-17 21:08:26 -0500

Seen: 307 times

Last updated: Mar 21 '16