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Mathematics
General Math
Euler Angles Transform: Rotating a Body in 3D Space
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[QUOTE="aydos, post: 6008037, member: 151564"] Yes, ok. I think this is how to rotate back from body to frame given the original yaw, pitch and roll. I think I was not 100% clear on the problem. Let's say in the body frame, I have a yaw angle with respect to the body frame. What is the yaw, pitch and roll angles with respect to the inertial frame? Perhaps I am not using the tools correctly, so I will explain the larger application I need this for. I have a road vehicle whose pose is described by X, Y, Z, Yaw, Pitch, Roll in a global coordinate system at T0. I need to predict the pose of the vehicle at T1 in this global coordinate system by using dead-reckoning based on given sensor information: wheel speed and steering angle. The way I set about solving the problem was to use a [URL='https://pdfs.semanticscholar.org/5849/770f946e7880000056b5a378d2b7ac89124d.pdf']simple 2D kinematic model based on ackerman steering geometry[/URL]. This model allows me to predict a new pose at T1 with X,' Y', Yaw' in a 2D plane in the body coordinate system. It seem very straightforward to me to update X, Y and Z by rotating back. However, I do not know how to map the Yaw' back to the global coordinate system. Am I going into a dead end here? Is there perhaps a different way of doing all of this? [/QUOTE]
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Mathematics
General Math
Euler Angles Transform: Rotating a Body in 3D Space
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