What is the PB3 coordinate system convention? #4423
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iwishiwasaneagle
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As far as I am aware, PB3 uses the ROS convention of a right-hand-rule coordinate system. This implies clockwise rotation around an axis from the origin along the axis. However, I'm finding this inconsistent with my results when using the built-in transformation function. It seems that the rotationwhen using getQuaternionFromEuler and getMatrixFromQuaternion is anti-clockwise. Attached is my derived rotation matrix comparison to the PB3 equivalent, along with my derivation (excuse the crude handwritten notes...).
Any input on where I'm potentially going wrong would be greatly appreciated!
Derivation
Comparison
coordinate_system_investigation.pdf
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