modellingcomponents:elements:angles:eulercardanangles
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Nächste Überarbeitung | Vorhergehende Überarbeitung | ||
modellingcomponents:elements:angles:eulercardanangles [2014/12/14 09:41] – angelegt oliver | modellingcomponents:elements:angles:eulercardanangles [2021/11/22 15:42] (aktuell) – [Euler/Cardan Angles] oliver | ||
---|---|---|---|
Zeile 1: | Zeile 1: | ||
- | test | + | ===== Euler/ |
+ | Euler angles define the sequence of three rotation angles, where the first and the last are around the same but rotated axis. A triple of rotation angles is called Cardan angles, if each rotation is around a different axis, where all three axes are orthogonal. | ||
+ | ==== Configuration ==== | ||
+ | ^ Attribute ^ Default ^ Description ^ Required ^ | ||
+ | ^ name | | name of element | Yes | | ||
+ | ^ parentCoordinateSystem | | (or deprecated name basisCoordinateSystem) | Yes | | ||
+ | ^ childCoordinateSystem | | (or deprecated name movingCoordinateSystem) | | ||
+ | ^ orientation | xyz | This attribute defines the so called axis order or rotationOrder. It can be set to a token, which defines the order, in which the rotations are executed. To rotate a coordinate system from orientation 1 to orientation 2 with the Euler/ | ||
+ | ^ threshold | | Genauigkeit in dessen Schranken Rotations-Matrizen orthonormiert werden. Eigentlich nur relevant bei der Verwendung der " | ||
+ | ^ method | auto | **auto:** solution of the euler/ | ||
+ | ^ implementation | default | This attribut is used only for testing the implementation. It is not supported and will be eliminated in the future.\\ **mantissa: | ||
+ | ^ unit | deg | **rad:** calculates the angles in radiant. | No | | ||
+ | |||
+ | ==== Notes ==== | ||
+ | |||
+ | The calculated cardan angles are given as a triple. Corresponding to the rotation-order the first value in the tripple is always the rotation angle about the axis the first rotation is around, the second value is the rotation angle about the second rotation is around and the last value is the rotation angle the third rotation es around. | ||
+ | |||
+ | The rotation from the " | ||
+ | |||
+ | Instead, Vicon-BodyBuilder calculates the angles around the fix axes of the parent coordinate system. | ||
+ | |||
+ | The equations show that each rotation can be defined by two different value-triples of the Cardan or Euler angles parameterisation. For example, if Cardan angles are used, the rotation defined by the angles a1, a2 and a3 is the same as the rotation defined by the angles PI + a1, PI - a2 and PI + a3. The choice of the solution depends on the attribute " | ||
+ | |||
+ | <code xml> | ||
+ | <!-- The first axis (x) shows to the front, the second (y) directs to left, the third (z) up --> | ||
+ | < | ||
+ | Position=" | ||
+ | FirstAxis=" | ||
+ | DefiningVector=" | ||
+ | orientation=" | ||
+ | |||
+ | <!-- The first axis (x) shows to the back, the second (y) directs to left, the third (z) down --> | ||
+ | < | ||
+ | Position=" | ||
+ | FirstAxis=" | ||
+ | DefiningVector=" | ||
+ | orientation=" | ||
+ | |||
+ | < | ||
+ | | ||
+ | | ||
+ | | ||
+ | </ | ||
+ | In principle there exists two possibilities to rotate coordinate system A into B: | ||
+ | |||
+ | With no further attributes set in the EulerCardanAngles element, this results in the solutiuon [-180 0 -180]. But also the solution [180 0 0] is correct. You can get it by setting additional attributes. | ||
+ | |||
+ | ==== Created trajectories and parameters ==== | ||
+ | |||
+ | ^ Name ^ Type ^ Description | ||
+ | ^ Angles |3d vector | | Yes | | ||
+ | ^ Average | | if average=" | ||
+ | ^ MeanStd | double | ||
+ | |||
modellingcomponents/elements/angles/eulercardanangles.1418546460.txt.gz · Zuletzt geändert: 2014/12/14 09:41 von oliver