Questions tagged [rotation]
111 questions
6
votes
5 answers
Why Euler Angle is set to be in ZYZ order?
We have 3 DOF for rotation in 3D space. So to describe an arbitrary rotation, we need to describe its 3 DOF. Euler angle does this by dividing a rotation in 3 steps, first rotate along the Z axis of the world frame ($z_0$), then rotate along Y axis…
hzh
- 181
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3
votes
1 answer
How do we derive the loop closure equations?
Looking to derive these equations. I don't intuitively understand what it means to take a cos of two independent angles added together. Nor do I understand why all of these are equal to 0. It is hard to visualize when all the angles seem…
vmusegameon
- 31
- 1
3
votes
1 answer
Calculating rotation matrix efficiently
I'm trying to efficiently calculate the vertical offset of each corner of a rectangular base. I have an accelerometer mounted in the middle of the base, ADXL345. The steps I have taken, and seems to work are below. Can anyone advise if this is the…
Slicc
- 133
- 4
2
votes
1 answer
Rotating NED to ENU
I have an IMU in NED of which I need to rotate to ENU to conform with ROS. I know its a roll of pi and a yaw of pi/2 but what does this look like mathematically? Below is an example of what I think so far, however, as you can see I need help with a…
Grant Dare
- 39
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2
votes
1 answer
Get Yaw from quaternion
I found a formula online to extract yaw from a quaternion like so:
double x = quat[0];
double y = quat[1];
double z = quat[2];
double w = quat[3];
return atan2(2.0f * (w * z + x * y), 1.0f - 2.0f * (y * y + z * z));
I wanted to verify if this is…
Phrixus
- 165
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2
votes
3 answers
A closed-form solution of $\textbf{R}\textbf{R}_1=\textbf{R}_2\textbf{R}$ w.r.t $\textbf{R}$
Is there a closed-form solution of $\textbf{R}\textbf{R}_1=\textbf{R}_2\textbf{R}$ with respect to $\textbf{R}\in SO(3)$?
$\textbf{R}_1$, $\textbf{R}_2 \in SO(3)$ are given.
Added:
I tried holmeski's solution but it fails because of rank deficiency…
Chanoh Park
- 1,567
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1
vote
1 answer
Can the tangent space vector of SO3 be interpreted as Euler angles?
I want to compare the rotation of two cameras with respect to a common frame. Let's call these R_World_Cam0 and R_World_Cam1. When comparing these two rotations, one common approach is to compute the Euler angles (for example XYZ) and compare the…
Javi
- 135
- 5
1
vote
1 answer
Rotate coordinate frame using 2-axis inclinometer angles
How to rotate coordinate frame (transform point or vector coordinates) using angles from 2-axis inclination sensor if both X and Y angles are non-zero?
AlexDarkVoid
- 111
- 1
1
vote
1 answer
Ignoring yaw for pick and place
I get an object pose from the camera in quaternion. Since these are tetrahedron shaped objects, the robot needs to align the vacuum gripper to one of the sides of the object. But the yaw (rotation along surface normal) can be ignored.
I tried this…
harsh
- 145
- 3
0
votes
0 answers
What's the result of multiplying a rotation matrix having only ψ components by another which has (−φ,θ,−ψ) components?
Given the following rotation matrix:
$
R(φ, θ, ψ) = \left( \begin{smallmatrix}
cos(θ)*cos(ψ) & -sin(φ)*sin(θ)*cos(ψ)-cos(φ)*sin(ψ) & -cos(φ)*sin(θ)*cos(ψ)+sin(φ)*sin(ψ) \\
cos(θ)*sin(ψ) & …
Aly Shmahell
- 101
- 2
-1
votes
2 answers
Nested Rotation of a point around arbitrary vector in 3D
I have a point (x,y,z) in the 3D space. This point rotates by theta1 about the arbitrary axis ax1. This axis (ax1) rotates by theta2 about another axis ax2. What will be the new coordinates of the point. I am going to generalize this point…
3Dmodel
- 1