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How to visualize Quaternions

asked 2019-06-14 00:03:47 -0600

dogh gravatar image

Hello everyone,

How do you visualize a time-series of Quaternion values?

Thank you a lot in advance

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Really just a Quaternion in isolation, or with an attached Position? If the latter, you could use the Pose visualisation / markers or even broadcast as TF and then use the TF display.

Related: #q49045.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-14 02:00:34 -0600 )edit

Only the Quaternion in isolation. Are there any way to do this in RViz or better rqt? Thank you in advance

dogh gravatar image dogh  ( 2019-06-14 11:35:26 -0600 )edit

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answered 2019-06-20 01:51:04 -0600

VitaliyProoks gravatar image

Quaternions represent rotations and cannot be observed directly. But it's possible to see how a quaternion affects, for example, a coordinate frame. So, to visualize a quaternion, you could publish tf messages with the quaternion values you have, and use TF display in RViz to see the result. A quaternion "in isolation" can be treated as a "quaternion with attached position" but with the position set to the origin or to any other fixed point in space.

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Asked: 2019-06-14 00:03:47 -0600

Seen: 1,376 times

Last updated: Jun 20 '19