Proto Quaternion definition

ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)

BSD 3-Clause "New" or "Revised" License

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Closed YoshuaNava closed 5 years ago

YoshuaNava commented 6 years ago

Hej, In the protobuf definition of Quaternion, it is not very clear to which quaternion dimension each field corresponds, e.g:

Is it the case that

u1 = x
u2 = y
u3 = z
u4 = w

u1 = w
u2 = x
u3 = y
u4 = z

for a quaternion defined as w + x i + y j + z k ?

Thank you.

jontje commented 6 years ago

Hej!

It is the second one:

u1 = w 
u2 = x
u3 = y
u4 = z

It follows the same definition as the RAPID data type orient

gavanderhoorn commented 6 years ago

@jontje: would this be something to add as a comment in the .proto file?

jontje commented 6 years ago

Definitely, I will do that

gavanderhoorn commented 5 years ago

@jontje: not sure, but I believe this one can be closed looking at:

jontje commented 5 years ago

@gavanderhoorn: Yes, it can be closed, thanks for the reminder! 👍