osi3::Orientation3d Struct Reference

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.