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Bullet stack

asked 2013-01-04 03:12:21 -0500

camilla gravatar image

updated 2014-01-28 17:14:44 -0500

ngrennan gravatar image

i want to use some elements of bullet library in my code.
In particular I want to convert from quaternions to roll,pitch and yaw.
I've seen that i can do:

btQuaternion q;
double roll, pitch, yaw;
tf::quaternionMsgToTF(msg->pose.pose.orientation, q);
btMatrix3x3(q).getRPY(roll, pitch, yaw);

But I don't know how to include the bullet library in my code. Any help?

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answered 2013-01-05 01:00:18 -0500

Lorenz gravatar image

Where did you see that code? Bullet's math library has been forked and is part of TF since ROS Fuerte so the above code should not work. I suggest you use the TF library and the data types tf::Quaternion and bt::Matrix3x3.

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i used this code: tf::Pose pose;
tf::poseMsgToTF(msg->pose.pose, pose);
theta_r = tf::getYaw(pose.getRotation());

camilla gravatar image camilla  ( 2013-01-07 04:00:18 -0500 )edit

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Asked: 2013-01-04 03:12:21 -0500

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Last updated: Jan 05 '13