Re: z-value in eulerAngles

Anders,

Here is the routine I use to determine the fall type.  

The maxAngleX and maxAngleZ are the absolute tilt angles that would result in the robot falling. These are the threshold values for detecting a fall.  The values should be in the range from 0 to (pi / 2).

The angleX and angleZ values are the values returned from the method eulerAngles().

if (Math.abs(angleX) < maxAngleX) {
   if (angleZ > maxAngleZ) { // Fall on Right Side detected. }
   if (angleZ < -1*maxAngleZ) { // Fall on Left Side detected. }
}
else {
   if (angleX > maxAngleX) { // Fall on Back detected. }
   if (angleX < -1*maxAngleX) { // Fall on Front detected.}
}

Mike Jost


Hi,
I don't quite understand what the inclinometer method eulerAngles return. The x-value seems to be the inclinometer value in the direction of back_1 (no matter the orientation of the robot), but the z value seems a bit wierd though. For example, a robot standing up straight has z = 0 (as expected), but when lying on its belly the z value is pi, thus z cannot be the tilt value.(?) I would like to find an exclusive criteria telling whether the robot is lying on its side. Any Suggestions?

Best,
Anders.L