Angles to Rotation Composing Conventions
Angles to Rotation Composing Conventions
DHChain ports that have radian angles, like Angles, AngularVelocity and MovingPosition have a configurable AnglesConvention parameter, that determines the convention to use when composing the angles to reference frame rotation and vice versa.
The following conventions are supported by CDP:
| Value | Convention Name | Description |
|---|---|---|
| 0 (default) | XYZ Extrinsic | First rotate around the initial X axis, then around the initial Y axis, and then around the initial Z axis. In other words, this method is using the extrinsic method in X-Y-Z order. Note: Note, that this convention is sometimes called also ZY'X'' Intrinsic, as it gives identical results when rotating first around the initial Z axis, then around the new Y axis, and then around the new X axis. In other words, using the intrinsic method in Z-Y-X order. |
| 1 | ZYX Extrinsic | First rotate around the initial Z axis, then around the initial Y axis, and then around the initial X axis. In other words, this method is using the extrinsic method in Z-Y-X order. Note: Note, that this convention is sometimes called also XY'Z'' Intrinsic, as it gives identical results when rotating first around the initial X axis, then around the new Y axis, and then around the new Z axis. In other words, using the intrinsic method in X-Y-Z order. |
For more information about angles-to-rotation conversion look at https://en.wikipedia.org/wiki/Euler_angles.
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