Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Recommended way to construct quaternion from roll/pitch/yaw with tf2?

asked 2018-09-27 08:30:29 -0500

bluenote
53 ●4 ●7 ●10

What is the recommended way to construct a quaternion from roll/pitch/yaw with tf2?

The tf2 wiki page gives this code:

tf::Quaternion q = tf::createQuaternionFromRPY(0, 0, 0);

Unfortunately tf itself is deprecated and I'm looking for a pure tf2 solution. I can't find the createQuaternionFromRPY function in tf2, although the migration guide says it is a superset of tf. Am I missing something?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2018-09-27 10:48:06 -0500

PeteBlackerThe3rd

flag of United Kingdom of Great Britain and Northern Ireland

9529 ●30 ●143 ●135 https://www.linkedin.c...

Yes the createQuaternionFromRPY constructor is deprecated. But you can do it using two lines with the setRPY method:

float roll = 0;
float pitch = 0;
float yaw = 0;

tf2::Quaternion myQuaternion;
myQuaternion.setRPY( roll, pitch, yaw );

Hope this helps.

edit flag offensive delete link

Comments

Okay than my understand of "superset" is different. Not so nice that there is no longer a single expression (e.g. when I want a const quaternion).

bluenote ( 2018-09-28 01:52:37 -0500 )edit

I agree, I've put this change in my own code too. It's not as elegant but it's supported.

PeteBlackerThe3rd ( 2018-09-28 09:10:03 -0500 )edit

Anyone know why it's deprecated? it's a nice one-line way to create a quaternion.

IanCol ( 2020-03-19 16:51:05 -0500 )edit

add a comment

Question Tools

3 followers

Stats

Asked: 2018-09-27 08:30:29 -0500

Seen: 2,051 times

Last updated: Sep 27 '18

Recommended way to construct quaternion from roll/pitch/yaw with tf2? edit

1 Answer

Comments

Question Tools

Stats

Related questions

Recommended way to construct quaternion from roll/pitch/yaw with tf2?