M@ Dunlap created MATH-847:
------------------------------
Summary: 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
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
