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bullet euler angle methods

asked 2011-03-23 05:24:50 -0500

tperkins gravatar image

updated 2011-03-23 10:46:12 -0500

tfoote gravatar image

What exactly are the differences between:

  • getEulerZYX/setEulerZYX
  • getEulerYPR/setEulerYPR
  • getRPY/setRPY

EDIT: I'm looking at bullet (and the ROS patches).

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Which library/set of code are you using? Is this for bullet?
Chad Rockey gravatar image Chad Rockey  ( 2011-03-23 06:22:13 -0500 )edit

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answered 2011-03-23 10:45:49 -0500

tfoote gravatar image

These were discussed in this meeting

The methods are documented in the headers. However, I see the doxygen docs are not generating correctly at the moment so I'll copy them here:

get/setRPY is recommended

  /**@brief Set the quaternion using fixed axis RPY
   * @param roll Angle around X 
   * @param pitch Angle around Y
   * @param yaw Angle around Z*/
  void setRPY(const btScalar& roll, const btScalar& pitch, const btScalar& yaw)

get/setEuler is defined as follows:

  /**@brief Set the quaternion using Euler angles
   * @param yaw Angle around Y
   * @param pitch Angle around X
   * @param roll Angle around Z */
    void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)

get/setEulerZYX is deprecated due to being ambiguous in different implementations:

  /**@brief Set the quaternion using euler angles 
   * @param yaw Angle around Z
   * @param pitch Angle around Y
   * @param roll Angle around X */
  void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) __attribute__((deprecated))
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I'm not sure I understand the difference between fixed-axis rotation and Euler angles. Is different from R(θ) = Rx(θ) * Ry(θ) * Rz(θ)? Also, what's the convention for get/setEuler? YXZ? Is pitch really around the x axis? I thought it was the y axis...
tperkins gravatar image tperkins  ( 2011-03-23 12:52:48 -0500 )edit
Bullet natively uses a different convention for yaw pitch and roll. The difference between fixed axis and euler angles are defined here http://en.wikipedia.org/wiki/Euler_angles#Euler_angles_as_composition_of_extrinsic_rotations
tfoote gravatar image tfoote  ( 2011-03-23 18:24:04 -0500 )edit

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Asked: 2011-03-23 05:24:50 -0500

Seen: 1,227 times

Last updated: Mar 23 '11