Add euler_angles_ordered function on Rotation #1235
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sebcrozet
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Apr 30, 2023
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| /// Returns the angles produced in the order provided by seq parameter, along with the | ||
| /// observability flag. If the rotation is gimbal locked, then the observability flag is false. | ||
| /// | ||
| /// Algorithm based on: | ||
| /// Malcolm D. Shuster, F. Landis Markley, “General formula for extraction the Euler | ||
| /// angles”, Journal of guidance, control, and dynamics, vol. 29.1, pp. 215-221. 2006, | ||
| /// and modified to be able to produce extrinsic rotations. |
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Could you please add a couple of examples (as doc-tests) here? Perhaps the ones presented in the papier.
In addition, does seq have to match some properties (being an orthonormal basis)? If so, that should be mentioned in the documentation here.
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Yes, the axes must be orthonormal (satisfying n1 dot n2 = 0 and n3 dot n1 = 0). I added asserts for that as well
sebcrozet
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Jul 8, 2023
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Thanks! |
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At the moment, Rotation only has a way to get Euler angles in the order roll, pitch, yaw. This PR adds a euler_angles_ordered function to Rotation which allows the user to specify any order of Euler axes. It also allows the user to specify if the returned angles should be for an intrinsic or extrinsic rotation.
The implementation is based upon this paper:
Malcolm D. Shuster, F. Landis Markley, “General formula for extraction the Euler angles”, Journal of guidance, control, and dynamics, vol. 29.1, pp. 215-221. 2006
This is a function I wrote in one of my own projects, and thought it would be a good addition to the library.