Orientation3d Class Reference

A 3D orientation, orientation rate or orientation acceleration (i.e. derivatives) or its uncertainties denoted in euler angles. 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 preferred angular range is (-pi, pi]. 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] (Tait-Bryan / Euler convention z-y'-x'').

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_roll*Rotation_pitch*Rotation_yaw

vector_global_coord_system := Inverse_Rotation_yaw_pitch_roll ( Orientation3d )*(vector_local_coord_system) + local_origin position

Requirements

Field	Type	Unit	Requirements
roll	double	[rad] [rad/s] or [rad/s2]	Must be set
pitch	double	[rad] [rad/s] or [rad/s2]	Must be set
yaw	double	[rad] [rad/s] or [rad/s2]	Must be set

All fields must be initialized.

When Orientation3d is used as an angle values mus be within (-pi, pi].

When Orientation3d as rate or accelaration no constrain exist on the numerical value.

References:

• [1] DIN ISO 8855:2013-11