07-08-2021, 04:15 PM
Hi William,
What the angular values of [90,20,90] in the "Pose(,,,,,)" line mean following both your angular inputs of [20,-90,90] and [0,-90,110] is unclear to me too.
The 4x4 homogenous transformation matrix below it is however correct: a roll-pitch-yaw of [20,-90,90] yields the same orientation as [0,-90,110]. Why? Because the three different subsequent axial rotations in this case add up to the same orientation.
这个4 x4函数xyzrpw_2_pose输出matrix thus seems correct to me. When calling "print(some_pose)" however, with "some_pose" being a 4x4 matrix output from xyzrpw_2_pose, not only this 4x4 matrix is printed. It seems some other function adds the misunderstood "Pose(,,,,,)" line before it, but I'm not savvy enough to see which.
Maarten
What the angular values of [90,20,90] in the "Pose(,,,,,)" line mean following both your angular inputs of [20,-90,90] and [0,-90,110] is unclear to me too.
The 4x4 homogenous transformation matrix below it is however correct: a roll-pitch-yaw of [20,-90,90] yields the same orientation as [0,-90,110]. Why? Because the three different subsequent axial rotations in this case add up to the same orientation.
这个4 x4函数xyzrpw_2_pose输出matrix thus seems correct to me. When calling "print(some_pose)" however, with "some_pose" being a 4x4 matrix output from xyzrpw_2_pose, not only this 4x4 matrix is printed. It seems some other function adds the misunderstood "Pose(,,,,,)" line before it, but I'm not savvy enough to see which.
Maarten