Quaternion to angular velocity

asked 2019-03-05 02:54:08 -0500

KoraAi gravatar image

updated 2022-06-12 19:35:12 -0500

lucasw gravatar image

Trying to convert quartenion to angular velocity, for the subsequent visualization in rviz. Extract the roll, pitch, yaw angles from the quaternion using getRPY. But I can’t understand / find the conversion function for angular velocity from quaternion. please, help.

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A quaternion encodes an orientation, not a velocity afaik. Are you differentiating things?

gvdhoorn gravatar image gvdhoorn  ( 2019-03-05 03:39:54 -0500 )edit

I found math functions to convert quaternion to angular velocity. W = dR / dt dR = R1 * R0 ^ -1 where R1 matrix3x3 is derived from the current quaternion, R0 ^ -1 matrix3x3 inverse from the previous quaternion, dt is the period between the current and the previous quaternions. Now I try to implement

KoraAi gravatar image KoraAi  ( 2019-03-05 05:50:43 -0500 )edit

Specifically, this led me to the fact that from my model in V-rep, the non-exact angular_velocity values ​​are displayed, although I use it to poll sensors (accelerometer and horoscope). regular Api simGetObjectVelocity

KoraAi gravatar image KoraAi  ( 2019-03-05 05:51:09 -0500 )edit