Struct Orientation3d

Struct Documentation

struct Orientation3d

A 3D orientation, orientation rate or orientation acceleration (i.e. derivatives) or its uncertainties denoted in euler angles.

Units are [rad] for orientation [rad/s] for rates and [rad/s^2] for accelerations

The preferred angular range is (-pi, pi]. The coordinate system is defined as right-handed. For the sense of each rotation, the right-hand rule applies.

The rotations are to be performed yaw first (around the z-axis), pitch second (around the new y-axis) and roll third (around the new x-axis) to follow the definition according to 1.

Roll/Pitch are 0 if the objects xy-plane is parallel to its parent’s xy-plane. Yaw is 0 if the object’s local x-axis is parallel to its parent’s x-axis.

\( Rotation_{yaw,pitch,roll} = Rotation_{roll}*Rotation_{pitch}*Rotation_{yaw} \)

\( vector_{\text{global coord system}} := Rotation_{yaw,pitch,roll}^{-1}( \) Orientation3d \( )*vector_{\text{local coord system}} + local_{origin}\text{::position} \)

Attention

This definition changed in OSI version 3.0.0. Previous OSI versions (V2.xx) had an other definition.

References:

  • [1] DIN ISO 8855:2013-11

Public Members

optional double osi3::Orientation3d::roll = 1

The roll angle/rate/acceleration.

Unit: [rad] [rad/s] or [rad/s^2]

optional double osi3::Orientation3d::pitch = 2

The pitch angle/rate/acceleration.

Unit: [rad] [rad/s] or [rad/s^2]

optional double osi3::Orientation3d::yaw = 3

The yaw angle/rate/acceleration.

Unit: [rad] [rad/s] or [rad/s^2]