[Attitude Treatment][WIP] use SO3 system for rotational motion #548
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- keep the special definition about the transformation from baselink to CoG - publish euler angles of CoG frame from spinal - use rotation matrix instead of RPY euler in aerial_robot_estimation system - modify sensor plugins of IMU, mocap, and VO
…ntation of both baselink and cog frame to avoid RPY Euler angles. Send cog RPY Euler angles from spinal may violate the sync of cog2baselink rot between ros and spinal
…velocity - add receiver of target SO(3) rotational motion in Dragon model
- handle quaternion for target baselink instead of CoG - adress the identical CoG and World frame issue in control framework
…on to calculate feasible control force and torque - And process to check the robot configuration whether is fixed
…should be set by modelling or nagvigation methods
- add target angular velocity based on Lee SO3 control method - retrieve cog orientation by converting from baselink orientation, since the desired cog orientation may be not updated in estimator. Need the last desired cog orientation.
…arger than 1. This induced a tragedy crash.
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Could you send the bug patch PR to this branch? |
This was referenced Apr 2, 2024
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What is this
To solve the singularity of Euler expression, we introduce the SO3 expression for rotational motion.
This is related to the modelling and control.