quaternion

NED To ENU // Intrinsic rotations (Body-fixed, Local frame). // Each rotation happens about the moving axes after the previous rotation. // http://docs.ros.org/en/noetic/api/tf2/html/classtf2_1_1Quaternion.html#a668c459d4d837dda4169fc7320afe tf2::Quaternion qRotFromEulerZYX; qRotFromEulerZYX.setEuler(0, M_PI, -0.5 * M_PI); // params(x, y, z) Z-90 -> Y180 -> X0 // Extrinsic rotations (Fixed-axis, Global frame) // Each rotation is applied around the original (absolute) coordinate system axes, which do not change. // Set the quaternion using fixed axis RPY. // http://docs.ros.org/en/noetic/api/tf2/html/classtf2_1_1Quaternion.html#a2ffba08e3fb4c10f9d5cbd6fc43399de tf2::Quaternion qRotFromEulerRPY; qRotFromEulerRPY.setRPY(0, M_PI, -0.5 * M_PI); // params(r, p, y) R0 -> P180 -> Y-90