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CMM-22 / a2

CMM Assignment 2 - Kinematic walking controller
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Definition of base orientation angles in general coordinate vector #14

Closed spolinski closed 2 years ago

spolinski commented 2 years ago

How are the angles defined in the general coordinate vector? Intuitively it would make sense for it to be in the order x-y-z, since the position is also defined in the order x-y-z: q(3) = euler_x q(4) = euler_y q(5) = euler_z

However, in the Tutorial slides, Theta is defined as [psi, theta, phi] which would correspond to: q(3) = psi = euler_y q(4) = theta = euler_x q(5) = phi = euler_z

Since the rotation is YXZ I believe it is the second one, but I just want to make sure. Could you please clarify this? Thanks!

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eastskykang commented 2 years ago

Yes you are right. This was my mistake as it is pointed out in relevant issue #10 :)

Thank you for report!