## Re: [PlayerStage-Gazebo] Calculation Error in method GzQuaternFromEuler

 Re: [PlayerStage-Gazebo] Calculation Error in method GzQuaternFromEuler From: Andrew Howard - 2005-02-03 05:54:40 ```On Tue, 01 Feb 2005 11:40:22 +0100, Armin Mueller wrote: > > I think there is an error in the method GzQuaternFromEuler in Vector.cc using > Gazebo 0.5.1. I had to change the calculation of p.z from > > p.z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * sin(psi); > > to > > p.z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi); > Bugger me; that must have been there from the very beginning. Good spot. A. ```

 Re: [PlayerStage-Gazebo] Calculation Error in method GzQuaternFromEuler From: Nate Koenig - 2005-02-01 16:25:21 ```Hi Armin, Thanks for the fix. -nate On Tue, 01 Feb 2005 11:40:22 +0100, Armin Mueller wrot= e: > Hi, >=20 > I think there is an error in the method GzQuaternFromEuler in Vector.cc u= sing > Gazebo 0.5.1. I had to change the calculation of p.z from >=20 > p.z =3D cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * sin(psi)= ; >=20 > to >=20 > p.z =3D cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi)= ; >=20 > I tested both with a SimpleSolid box object and the following rpy tag: > 22.5 90 -45 >=20 > Armin >=20 > -- >=20 > =B8=B8,=A4=BA=B0`=B0=BA=A4=F8,=B8=B8,=F8=A4=BA=B0`=B0=BA=A4=F8,=B8=B8,=F8= =A4=BA=B0`=B0=BA=A4=F8,=B8=B8,=F8=A4=BA=B0`=B0=BA=A4=F8,=B8=B8,=F8=A4=BA=B0= `=B0=BA=A4=F8,=B8=B8 >=20 > Armin M=FCller > Technische Universit=E4t M=FCnchen Tel: +49 89 289 - 17780 > Lehrstuhl f=FCr Informatik IX Fax: +49 89 289 - 17757 > Boltzmannstrasse 3 http://www9.in.tum.de/people/muellear/ > D-85748 Garching bei M=FCnchen Armin.Mueller@... >=20 >=20 > ```
 Re: [PlayerStage-Gazebo] Calculation Error in method GzQuaternFromEuler From: Andrew Howard - 2005-02-03 05:54:40 ```On Tue, 01 Feb 2005 11:40:22 +0100, Armin Mueller wrote: > > I think there is an error in the method GzQuaternFromEuler in Vector.cc using > Gazebo 0.5.1. I had to change the calculation of p.z from > > p.z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * sin(psi); > > to > > p.z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi); > Bugger me; that must have been there from the very beginning. Good spot. A. ```