Interesting Yaw, Pitch, Roll Problem
- To: mathgroup at smc.vnet.net
- Subject: [mg19142] Interesting Yaw, Pitch, Roll Problem
- From: Robert Milharèiè <robert.m at ib-caddy.si>
- Date: Thu, 5 Aug 1999 23:58:45 -0400
- Organization: S-Net Ltd, Ljubljana, Slovenia
- Sender: owner-wri-mathgroup at wolfram.com
The 3D rotations are made in following order: 1. Roll (Z axe rotation) 2. Yaw (Y axe rotation) 3. Pitch (X axe rotation) A base koordinate system is specified by normalized vectors U (X direction), V (Y direction), N (Z direction). Of course, the U, V, N vector are perpendicular to each oder. After applaying all rotations we get new koordinate system Unew, Vnew, Nnew. Does anyone know how to calculate all three angles (Roll, Yaw, Pitch) if we know only base coordinate system vectors (U, V, N), new coordinate system vectors (Unew, Vnew, Nnew) and order in which 3D rotations are applied (Roll, Yaw, Pitch). Here is what I allready have: Rp = Unew - (N*Unew)*N; Rpr = Rp/|Rp| P = Unew x N; Pn = P/|P| Yaw: Yaw = -asin(N*Unew); Roll: Roll = acos(U*Rpr); Pitch Pitch = PI - acos(Vnew*Pn); The problem is that this works only for angles between -90 and 90 but not for angles between 90 and 270. -- Lep pozdrav / Best regards Robert Milharcic ib-CADdy d.o.o. / www.ib-caddy.si Dunajska 106 SI-1000 Ljubljana Slovenia Tel.: +386 61 168 44 30 Fax.: +386 61 168 22 25 e-mail: robert.m at ib-caddy.si