Convert Quaternions to Euler Angles in Poses

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Function

This Step converts the input quaternions to the corresponding Euler angles, unifying the data representation of the rotation component in a pose to facilitate subsequent pose calculations.

Usage Scenario

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

Input and Output

Input

Input port Data type Description

Poses with orientation information in quaternions

Pose[]

Poses that represent the orientation information in quaternions.

Output

Output port Data type Description

Poses with orientation information in Euler angles

Number[][]

Poses that represent the orientation information in Euler angles.

Parameter Description

Rotation Axis Settings

Parameter Description

Rotation Axis 1/2/3

Specifies the rotation axis corresponding to the first, second, or third rotation angle in the Euler angles.

Reference Frame Settings

Parameter Description

Reference Frame During Rotation

Specifies the reference frame used during Euler angle rotations.

Value list:

  • Rotating coordinate system: The reference frame is updated after each rotation, and subsequent rotations use the updated frame. For example, after the first rotation around the Z-axis, the coordinate system rotates with it. The second rotation around the Y-axis then uses the new Y-axis as its rotation axis.

  • Fixed coordinate system: The reference frame remains unchanged, and all rotations use the axes of the initial reference frame. Regardless of the result of the previous rotation, subsequent rotations are always performed around the initial X, Y, or Z axis.

Euler Angle Settings

Parameter Description

Euler Angle Unit

Specifies the angle unit for Euler angles.

Value list: Degrees, Radians

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