-
Notifications
You must be signed in to change notification settings - Fork 6
msg: quaternion
Salvo Virga edited this page Sep 22, 2018
·
4 revisions
simple_msgs::Quaternion
messages represent a 3D rotation in space: X, Y, Z, W.
A simple_msgs::QuaternionStamped
message is a Quaternion
+ Header
:
the rotation can then be linked to a reference frame defined by Header.frame_id
and their timestamp can be stored in Header.timestamp
.
In code:
simple_msgs::Header my_header{0, "root", 1.0};
simple_msgs::Quaternion my_quaternion{0.0, 0.0, 0.0, 1.0};
simple_msgs::QuaternionStamped my_quaternionstamped{my_header, my_quaternion}
You can manipulate the QuaternionStamped
message using its setters/getters. E.g.
my_quaternionstamped.getQuaternion.setW(-1.0);
Note: simple
sends the message that you create, you are responsible to check if the sent Quaternion is valid/normalized.