Convert Quaternions to Euler Angles in Poses

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Function

This Step changes the representation of a pose from quaternions to Euler angles.

Usage Scenario

This Step is a general pose representation conversion Step. No fixed usage scenarios.

Input and Output

Input

Input port Data type Description

Poses with Orientation in Quaternions

Pose[]

Poses with orientation information in quaternions.

Output

Output port Data type Description

Poses with Orientation in Quaternions

Pose[]

Poses with orientation information in Euler angles.

Parameter Description

Rotation Axis Settings

Parameter Description

Axis 1

Parameter description: Select the first rotation axis.

Value list: X, Y, Z

Instruction: Select the first axis of the rotation order according to actual requirements.

Axis 2

Parameter description: Select the second rotation axis.

Value list: X, Y, Z

Instruction: Select the second axis of the rotation order according to actual requirements.

Axis 3

Parameter description: Select the third rotation axis.

Value list: X, Y, Z

Instruction: Select the third axis of the rotation order according to actual requirements.

Reference Coordinate System Settings

Parameter Description

Rotation Reference Coordinate System

Parameter description: Select the reference coordinate system used during rotation.
Value list: Rotated (Rotated coordinate system), Static (Fixed coordinate system).
Instruction: Rotated means each rotation is based on the current coordinate system; Static means all rotations are based on the initial coordinate system.

Angle Settings

Parameter Description

Angle Unit

Parameter description: Specify the unit for Euler angle output.
Value list: Radian, Degree
Instruction: Select the appropriate angle unit according to the requirements of subsequent Steps or communication protocols.

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