Bullet stack

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

camilla
255 ●48 ●54 ●60

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

ngrennan
1 ●1 ●1

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

22681 ●129 ●201 ●315 http://ias.in.tum.de/p...

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

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

Seen: 260 times

Last updated: Jan 05 '13

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