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Achllle / dual_quaternions_ros

Dual Quaternion conversions from/to ROS messages
MIT License
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Add ability to get euler angles #10

Closed sjhansen3 closed 4 years ago

sjhansen3 commented 5 years ago

For packages like:

https://github.com/ros-industrial-consortium/fermi/tree/hydro-devel/moveit_cartesian_plan_plugin

We sometimes need to convert between quaternions and euler angles. It owuld be nice to have a .euler property. Youd have to be explicit about the convention.

Achllle commented 4 years ago

To convert to Euler angles, I'd also have to convert translation. In that case, I'd probably also want to convert to several other conversions for rotation + translation which exist in other libraries. You can convert to quaternion + translation or to homogeneous representation and then to euler angles. Also I'd rather discourage the use of RPY angles by explicitly not having them :)