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... | |
Detailed Description
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 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.
\( Rotation_{yaw,pitch,roll} = Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll} \)
\( vector_{global coord system} := Rotation_{yaw, pitch, roll} * vector_{local coord system} +local_{origin::position} \)
- Attention
- This definition changed in OSI version 3.0.0. Previous OSI versions (V2.xx) had an other definition.
- Reference:
- [1] DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany.
Member Data Documentation
◆ roll
| optional double osi3::Orientation3d::roll = 1 |
The roll angle/rate/acceleration.
Unit: rad, rad/s, or rad/s^2
◆ pitch
| optional double osi3::Orientation3d::pitch = 2 |
The pitch angle/rate/acceleration.
Unit: rad, rad/s, or rad/s^2
◆ yaw
| optional double osi3::Orientation3d::yaw = 3 |
The yaw angle/rate/acceleration.
Unit: rad, rad/s, or rad/s^2
The documentation for this struct was generated from the following file:
- osi_common.proto
