http://bugs.orocos.org/show_bug.cgi?id=1037
Summary: GetRot() : angle-axis calculation not robust
Product: KDL
Version: unspecified
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P3
Component: Primitives
AssignedTo: [email protected]
ReportedBy: [email protected]
CC: [email protected]
Estimated Hours: 0.0
KDL::Rotation rot = KDL::Rotation::Quaternion(x,y,z,w);
KDL::vector axis = rot.getRot();
Two more or less the same quaternions give a completely different result
-------------------------------
45.085 [ Warning][Logger] Commanded Quaternion: 0.999991 , -0.00419755 ,
-3.73226e-16 , 1.04598e-16
45.085 [ Warning][Logger] Commanded axis: 4.29121e-12 , -1.80127e-14 , 0
-------------------------------
47.162 [ Warning][Logger] Commanded Quaternion: 0.999969 , -0.00783564 ,
3.20454e-16 , 5.25546e-17
47.162 [ Warning][Logger] Commanded axis: -3.1415 , 0.0246159 , -nan
It turned out to be a problem with the epsilon value of
getRotAngle(axis,epsilon)
For epsilon bigger than 0.001 it works fine!
--
Configure bugmail: http://bugs.orocos.org/userprefs.cgi?tab=email
------- You are receiving this mail because: -------
You are on the CC list for the bug.
You are the assignee for the bug.
--
Orocos-Dev mailing list
[email protected]
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev
lmpx.com only provides a reader for public news (NNTP) servers. It is not
affiliated with the servers or forums shown here and is not responsible for
the content of articles, which is written by their respective authors.