Re: Inclinometer and Compass

>From: "novamehmedinovic"
>

> Hello very body.
>
> I saw that you, Mike Jopst, have a bug in your inclinometer function.
> if you make a rotation of 90 deg.(Y) on the left of the robot the
> values of angles X,Z are inverted. X=>Z and Z=>X.
>

Thanks, the function does give invalid results.  I have switched my thinking
from left-hand coordinates back to right-hand coordinates.  I have tested
this new function in all four quadrants of Y rotation with the robot
standing vertical.  Also I tried it with the robot laying on its left and
right side and laying on its front and back.  It works for all these test
cases.  I have normalized the X and Z angles to +/- PI with angle 0 being
coincident with the Y axis.   0 angle means no tilt with respect to gravity.

The new function is at
http://www.mikejost.com/cyberbotics/RotationMatrix/EulerRightHand.java

Mike Jost (FreeTime)





------------------------ Yahoo! Groups Sponsor ---------------------~-->
Buy Ink Cartridges or Refill Kits for your HP, Epson, Canon or Lexmark
Printer at MyInks.com. Free s/h on orders $50 or more to the US & Canada.
http://www.c1tracking.com/l.asp?cid=5511
http://us.click.yahoo.com/mOAaAA/3exGAA/qnsNAA/pU_rlB/TM
---------------------------------------------------------------------~->

To unsubscribe from this group, send an email to:
[email protected]

 

Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/