pdrews's profile - activity

Unfortunately, this has the same problem as Dan's answer. All of these methods are rotations around fixed angles, instead of sequential Euler angle rotations. I agree that Euler angle implementation can be ambiguous, but euler rotations and fixed angle rotations don't seem to be equivalent.

We are actually using tf::Quaternion, which is mostly derived from the bullet btQuaternion class. The problem is that q.setRPY and q.setEulerZYX are not equivalent. setRPY takes rotations around a fixed set of axes. setEulerZYX uses rotations relative to a frame that stays attached to the body (see the wikipedia article http://en.wikipedia.org/wiki/Euler_angles).

We are using a Sparkfun Razor IMU, and it produces Euler angles in yaw,pitch,roll order. We need the setEulerZYX method to put this into a quaternion, but compiling this produces a warning that it is deprecated. I cannot find an equivalent function, do anyone have any suggestions for replacement?