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cburbridge / uuisrc-ros-pkg

University of Ulster Intelligent Systems Research Centre ROS Repo
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in person_grabber: wrong rotations #2

Open loechner opened 13 years ago

loechner commented 13 years ago

I found a solution for the rotation problem: 

    KDL::Rotation rotation(m[0], m[1], m[2],
                           m[3], m[4], m[5],
                   m[6], m[7], m[8]);

    double rX, rY, rZ;
    rotation.GetRPY(rX, rY, rZ);       //get the roll, pitch and yaw values

    tf::Transform transform;
    transform.setOrigin(tf::Vector3(x, y, z));
    transform.setRotation(tf::Quaternion(rZ, -rY, -rX));

Cheers, Julian

gatsoulis commented 13 years ago

Hi Julian,

thanks for your contribution. We will have a look into this.

Kind Regards, Yianni http://isrc.ulster.ac.uk/staff/IGatsoulis

On 29/09/11 14:53, loejuli wrote:

I found a solution for the rotation problem:

  KDL::Rotation rotation(m[0], m[1], m[2],
                         m[3], m[4], m[5],
                 m[6], m[7], m[8]);

  double rX, rY, rZ;
  rotation.GetRPY(rX, rY, rZ);       //get the roll, pitch and yaw values

  tf::Transform transform;
  transform.setOrigin(tf::Vector3(x, y, z));
  transform.setRotation(tf::Quaternion(rZ, -rY, -rX));

It's probably not the right way to submit something like this but it is still a solution ;)

Cheers, Julian