open_simulation_interface  master (52710bc)
osi3::Orientation3d Struct Reference

A 3D orientation, orientation rate or orientation acceleration (i.e. More...

Collaboration diagram for osi3::Orientation3d: [legend]

## 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...

## Detailed Description

A 3D orientation, orientation rate or orientation acceleration (i.e.

derivatives) or its uncertainties denoted in euler angles.

The coordinate system is defined as right-handed. For the sense of each rotation, the right-hand rule applies.

The rotations are to be performed yaw first (around the z-axis), pitch second (around the new y-axis) and roll third (around the new x-axis) 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 xy-plane is parallel to its parent's xy-plane. Yaw is 0 if the object's local x-axis is parallel to its parent's x-axis.

$$Rotation_{yaw,pitch,roll} = Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll}$$

$$vector_{gobal coord system} := Rotation_{yaw, pitch, roll} * vector_{local coord system} +local_{origin::position}$$

Attention
This definition changed in OSI version 3.0.0. Previous OSI versions (V2.xx) had an other definition.
Reference:
 DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany.

## ◆ roll

 optional double osi3::Orientation3d::roll = 1

The roll angle/rate/acceleration.

## ◆ pitch

 optional double osi3::Orientation3d::pitch = 2

The pitch angle/rate/acceleration.