[Rock-dev] Change in Eigen 3.2 which breaks the base types (and maybe other packages like orientation estimator)
Matthias Goldhoorn
matthias.goldhoorn at dfki.de
Fri Nov 22 14:53:24 CET 2013
I just pushed a update for the base/types/Pose.hpp
the implementation of euler changed in eigen:
http://eigen.tuxfamily.org/dox/group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a
The returned vector is in in form of: [0:pi]x[0:pi]x[-pi:pi].
before there was no definition for that.
so far we in rock assumed that the vector is in: (-pi,pi),
(-pi/2,pi/2),(-pi/2,pi/2), since the conversion would be more
complicated that the manual calculation i added a new to euler helper
method to the pose which does the conversion like the old eigen code (up
to 3.1) does.
But if you call the eigen method within your code manually take respect
to this change. The new version is pushed to master only so far.
The testsuite passes...
Matthias
--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
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Fax: +49 421 178 45-4150
E-Mail: matthias.goldhoorn at uni-bremen.de
Weitere Informationen: http://www.informatik.uni-bremen.de/robotik
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