[ https://issues.apache.org/jira/browse/MATH-847?page=com.atlassian.jira.plugin.system.issuetabpanels:all-tabpanel ]
Luc Maisonobe resolved MATH-847. -------------------------------- Resolution: Not A Problem Fix Version/s: 3.1 Sure, we will try to improve the javadoc. > Using Rotation to convert Euler angles to Quaternions produces wrong results > ---------------------------------------------------------------------------- > > Key: MATH-847 > URL: https://issues.apache.org/jira/browse/MATH-847 > Project: Commons Math > Issue Type: Bug > Affects Versions: 3.0 > Environment: 1.6 > Reporter: M@ Dunlap > Fix For: 3.1 > > > import org.apache.commons.math3.geometry.euclidean.threed.Rotation; > import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; > public class temp { > public static void main(String args[]) { > Rotation r = new Rotation(RotationOrder.XYZ, -Math.PI / 2d, 0, 0); > System.out.println("(" + r.getQ0() + " " + r.getQ1() + " " + r.getQ2() + > " " + r.getQ3() + ")"); > } > } > Prints (0.707 0.707 0.0 0.0) (in-sig-figs elided), but when I type the same > thing into Wolfram Alpha I get (.707 -.707 0 0) (note the negative) see: > http://www.wolframalpha.com/input/?i=euler+angles&a=*C.euler+angles-_*Formula.dflt-&a=*FP.EulerRotation.EAS-_e123&f3=-pi%2F2+rad&f=EulerRotation.th1_-pi%2F2+rad&f4=0&f=EulerRotation.th2_0&f5=0&f=EulerRotation.th3_0 > One of the guys in the lab suggested that if Rotation is assuming the Euler > angle is in a left-handed coordinate space this is an expected result, but if > that's the case the question is, why is the less popular coordinate system > the only option? -- This message is automatically generated by JIRA. If you think it was sent incorrectly, please contact your JIRA administrators: https://issues.apache.org/jira/secure/ContactAdministrators!default.jspa For more information on JIRA, see: http://www.atlassian.com/software/jira