Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Thu, 20 Apr 2017 01:55:51 -0500Problem of trigonometryhttp://answers.gazebosim.org/question/15924/problem-of-trigonometry/Hello,
I have a big problem of trigonometry, I want to convert the yaw of my robot from quaternion to radians using GetYaw() function, it's working pretty well, but I still have a problem.
I am using cos and sin functions but
the robot orientation is now in radians but it's going from -pi to +pi, why wont it be like any normal trigonometric circle, from 0 to 2pi ?
Here there a way to change that ? Im pretty stuck at the moment and my brain is smelting, thank you in advance !Wed, 19 Apr 2017 08:29:18 -0500http://answers.gazebosim.org/question/15924/problem-of-trigonometry/Answer by sloretz for <p>Hello,</p>
<p>I have a big problem of trigonometry, I want to convert the yaw of my robot from quaternion to radians using GetYaw() function, it's working pretty well, but I still have a problem.</p>
<p>I am using cos and sin functions but
the robot orientation is now in radians but it's going from -pi to +pi, why wont it be like any normal trigonometric circle, from 0 to 2pi ?</p>
<p>Here there a way to change that ? Im pretty stuck at the moment and my brain is smelting, thank you in advance !</p>
http://answers.gazebosim.org/question/15924/problem-of-trigonometry/?answer=15927#post-id-15927Gazebo uses a right-handed coordinate system. Most models are created with the x axis pointing out the front, and +z pointing up. Yaw behaves as one would expect from trigonometry. Looking from above the yaw angle increase when the model rotates counter-clockwise, and decreases when the model rotates clockwise.
![image description](/upfiles/1492612176790193.png)Wed, 19 Apr 2017 09:31:50 -0500http://answers.gazebosim.org/question/15924/problem-of-trigonometry/?answer=15927#post-id-15927Comment by shenki for <p>Gazebo uses a right-handed coordinate system. Most models are created with the x axis pointing out the front, and +z pointing up. Yaw behaves as one would expect from trigonometry. Looking from above the yaw angle increase when the model rotates counter-clockwise, and decreases when the model rotates clockwise.</p>
<p><img src="/upfiles/1492612176790193.png" alt="image description"></p>
http://answers.gazebosim.org/question/15924/problem-of-trigonometry/?comment=15937#post-id-15937hello, I Am retarded, thank you for your answerThu, 20 Apr 2017 01:55:51 -0500http://answers.gazebosim.org/question/15924/problem-of-trigonometry/?comment=15937#post-id-15937