open_simulation_interface
master (77587cf)

A 3D orientation, orientation rate or orientation acceleration (i.e. More...
Public Attributes  
optional double  roll = 1 
The roll angle/rate/acceleration. More...  
optional double  pitch = 2 
The pitch angle/rate/acceleration. More...  
optional double  yaw = 3 
The yaw angle/rate/acceleration. More...  
A 3D orientation, orientation rate or orientation acceleration (i.e.
derivatives) or its uncertainties denoted in euler angles.
Units are rad for orientation, rad/s for rates, and rad/s^2 for accelerations
The coordinate system is defined as righthanded. For the sense of each rotation, the righthand rule applies.
The rotations are to be performed yaw first (around the zaxis), pitch second (around the new yaxis) and roll third (around the new xaxis) to follow the definition according to 1. The preferred angular range is [pi, pi] for roll and yaw and [pi/2, pi/2] for pitch.
Roll/Pitch are 0 if the objects xyplane is parallel to its parent's xyplane. Yaw is 0 if the object's local xaxis is parallel to its parent's xaxis.
\( Rotation_{yaw,pitch,roll} = Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll} \)
\( vector_{gobal coord system} := Rotation_{yaw, pitch, roll} * vector_{local coord system} +local_{origin::position} \)
optional double osi3::Orientation3d::roll = 1 
The roll angle/rate/acceleration.
Unit: rad, rad/s, or rad/s^2
optional double osi3::Orientation3d::pitch = 2 
The pitch angle/rate/acceleration.
Unit: rad, rad/s, or rad/s^2
optional double osi3::Orientation3d::yaw = 3 
The yaw angle/rate/acceleration.
Unit: rad, rad/s, or rad/s^2