Function parsing_utilities::convertEulerToQuaternion

Function Documentation

inline Eigen::Quaterniond parsing_utilities::convertEulerToQuaternion(double roll, double pitch, double yaw)

Transforms Euler angles to a quaternion.

Parameters:

  • yaw – [in] Yaw, i.e. heading, about the z-axis [rad]

  • pitch – [in] Pitch about the new y-axis [rad]

  • roll – [in] Roll about the new y-axis [rad]

Returns:

quaternion The rotational sequence convention we adopt here (and Septentrio receivers’ pitch, roll, yaw definition too) is the yaw-pitch-roll sequence, i.e. the 3-2-1 sequence: The body first does yaw around the z-axis, then pitches around the new y-axis and finally rolls around the new x-axis.