Update t265_rpy.py #4000
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Update t265_rpy.py #4000
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Fixed rotation matrix to roll-pitch-yaw conversion to comply with the following roll-pitch-yaw definition: R_ref_body = Rz(yaw)*Ry(pitch)*Rx(roll) // body w.r.t. reference frame where Ri denotes the rotation around axis i. Additional info on orientation of coordinate frames: https://en.wikipedia.org/wiki/Aircraft_principal_axes#/media/File:Yaw_Axis_Corrected.svg Thanks, @radfordi!
radfordi
approved these changes
May 20, 2019
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Thanks @schmidtp1. I think this should be targeted towards development not master.
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Fixed rotation matrix to roll-pitch-yaw conversion to comply with the following roll-pitch-yaw definition:
R_ref_body = Rz(yaw)*Ry(pitch)*Rx(roll) // body w.r.t. reference frame
where Ri denotes the rotation around axis i.
Additional info on orientation of coordinate frames:
https://en.wikipedia.org/wiki/Aircraft_principal_axes#/media/File:Yaw_Axis_Corrected.svg
Thanks, @radfordi!