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cs:localization:rotation:start [2017/01/22 03:16] Brian Moore |
cs:localization:rotation:start [2018/04/29 11:24] Brian Moore [Complete Rotation] |
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| A full 3D rotation includes a roll, pitch, and yaw. With these three rotations, we can describe any arbitrary orientation. | A full 3D rotation includes a roll, pitch, and yaw. With these three rotations, we can describe any arbitrary orientation. | ||
| - | Order of operation is important. The complete $R$ matrix describes the vehicle first yawing around its own z-axis, then pitching along its own y-axis, and then finally rolling about its own x-axis. As an example, the rotation $R([180 10 30])$ would have the submarine pointed to the left $30^o$, then pitched slightly upwards by $10^o$, and then rolling onto its back at $180^o$. | + | Order of operation is important. The complete $R$ matrix describes the vehicle first yawing around its own z-axis, then pitching along its own y-axis, and then finally rolling about its own x-axis. As an example, the rotation $R([180,10,30])$ would have the submarine pointed to the left $30^o$, then pitched slightly upwards by $10^o$, and then rolling onto its back at $180^o$. |
