From: Walter Daniel Macklem <wmacklem@st...> - 2004-06-01 09:11:52
Kayur and I have developed a TruthWidget for Player for 3D positioning in
Gazebo. We can now set a position using SetPose(xpos, ypos, zpos, roll,
pitch, yaw). However, when we poll the GetPose() function, we seem to be
getting orientation skew for the euler angles. The euler angles start at
the set position, but change by a varying offset. For examples, if we set
the yaw at 90 degrees and the pitch at 0 degrees, the yaw will change to 83
degrees over the course of a half second. However, once reaching a yaw of
83 degrees, it maintains that orientation. In another instance, setting the
yaw at 90 degrees and the pitch at 45 degrees, the yaw will change to 87
degrees and the pitch will change to 43 degrees.
We are confident that the code we wrote is bug-free (it was a
straight-forward implementation from the 2D TruthWidget). Do you have any
idea of what would cause the orientation skew?