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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 !

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1 Answer

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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.

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hello, I Am retarded, thank you for your answer

( 2017-04-20 01:55:51 -0600 )edit

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Asked: 2017-04-19 08:29:18 -0600

Seen: 379 times

Last updated: Apr 19 '17