convert_orientation()
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convert_orientation()
- 1 Minute to read
Article summary
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Convert the orientation representation from either Euler angles (roll, pitch, yaw) or quaternion (x, y, z, w) to quaternion format.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| orientation | dict | Dictionary representing the orientation. It can contain either Euler angles (roll, pitch, yaw) or quaternion (x, y, z, w). | |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | The unit for the Euler angles. Default is degrees. |
Return
| Type | Description |
|---|---|
Dict | the keys are (x, y, z , w) and the items are the respective value for the quaternion representation. |
Exceptions
RayaWrongArgument
See the complete list of arms exceptions
Usage Example
...
async def setup(self):
self.arms: ArmsController = self.enable_controller('arms')
...
async def loop(self):
orientation= {
'roll': 90.0,
'pitch': 90.0
}
print(self.arms.convert_orientation(
orientation=orientation))
...
self.finish_app()
Output
{'x': 0.5, 'y': 0.5, 'z': -0.5, 'w': 0.5}
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