Quaternions in Euler Angles

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in my Programm i am calculating Quaternions in Euler Angles. My values for pitch and roll are from -180 to +180, my yaw values are from -90 to +90. Thats
how i do my calculation.



 double pitchYawRollZ = (double)Math.Atan2(2*Y*W + 2*X*Z, 1 - 2*Y*Y - 2*Z*Z); // roll
 double pitchYawRollY = (double)Math.Atan2(2*X*W + 2*Y*Z, 1 - 2*X*X - 2*Z*Z); // pitch
 double pitchYawRollX = (double)Math.Asin(2*X*Y + 2*Z*W); // yaw

 pitchYawRollZ = pitchYawRollZ * (180 / Math.PI);
 pitchYawRollY = pitchYawRollY * (180 / Math.PI);
 pitchYawRollX = pitchYawRollX * (180 / Math.PI);


Is there something wrong or why isn't my yaw just so wierd. I also got one more question. I got 4 different values in my quaternion. I get these quaternions from a Sensor and the values are jumping a little bit.



0,65564 -0,125366 -0,67804 -0,307739
0,65564 -0,125305 -0,67804 -0,307678
0,65564 -0,125244 -0,67804 -0,307678
0,655701 -0,125244 -0,67804 -0,307617
0,655701 -0,125183 -0,678101 -0,307556
0,655701 -0,125122 -0,678101 -0,307556
0,655762 -0,125122 -0,678101 -0,307495


My sensor is not moving but i got this little difference. Can i calculate this difference in angles?




quaternions angle




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  • Are you asking why the formula for yaw looks different from the pitch and roll formulae? If that's so, you can see similar formulae, and helpful links, in the answers to this question but be aware that there's a host of different conventions for the angles, which leads to various different versions of the formulae with different signs etc. Otherwise, you may need to clarify your question.
    – LonelyProf
    Jul 26 at 16:29














up vote
0
down vote

favorite












in my Programm i am calculating Quaternions in Euler Angles. My values for pitch and roll are from -180 to +180, my yaw values are from -90 to +90. Thats
how i do my calculation.



 double pitchYawRollZ = (double)Math.Atan2(2*Y*W + 2*X*Z, 1 - 2*Y*Y - 2*Z*Z); // roll
 double pitchYawRollY = (double)Math.Atan2(2*X*W + 2*Y*Z, 1 - 2*X*X - 2*Z*Z); // pitch
 double pitchYawRollX = (double)Math.Asin(2*X*Y + 2*Z*W); // yaw

 pitchYawRollZ = pitchYawRollZ * (180 / Math.PI);
 pitchYawRollY = pitchYawRollY * (180 / Math.PI);
 pitchYawRollX = pitchYawRollX * (180 / Math.PI);


Is there something wrong or why isn't my yaw just so wierd. I also got one more question. I got 4 different values in my quaternion. I get these quaternions from a Sensor and the values are jumping a little bit.



0,65564 -0,125366 -0,67804 -0,307739
0,65564 -0,125305 -0,67804 -0,307678
0,65564 -0,125244 -0,67804 -0,307678
0,655701 -0,125244 -0,67804 -0,307617
0,655701 -0,125183 -0,678101 -0,307556
0,655701 -0,125122 -0,678101 -0,307556
0,655762 -0,125122 -0,678101 -0,307495


My sensor is not moving but i got this little difference. Can i calculate this difference in angles?




quaternions angle




share|cite|improve this question



















  • Are you asking why the formula for yaw looks different from the pitch and roll formulae? If that's so, you can see similar formulae, and helpful links, in the answers to this question but be aware that there's a host of different conventions for the angles, which leads to various different versions of the formulae with different signs etc. Otherwise, you may need to clarify your question.
    – LonelyProf
    Jul 26 at 16:29












up vote
0
down vote

favorite









up vote
0
down vote

favorite











in my Programm i am calculating Quaternions in Euler Angles. My values for pitch and roll are from -180 to +180, my yaw values are from -90 to +90. Thats
how i do my calculation.



 double pitchYawRollZ = (double)Math.Atan2(2*Y*W + 2*X*Z, 1 - 2*Y*Y - 2*Z*Z); // roll
 double pitchYawRollY = (double)Math.Atan2(2*X*W + 2*Y*Z, 1 - 2*X*X - 2*Z*Z); // pitch
 double pitchYawRollX = (double)Math.Asin(2*X*Y + 2*Z*W); // yaw

 pitchYawRollZ = pitchYawRollZ * (180 / Math.PI);
 pitchYawRollY = pitchYawRollY * (180 / Math.PI);
 pitchYawRollX = pitchYawRollX * (180 / Math.PI);


Is there something wrong or why isn't my yaw just so wierd. I also got one more question. I got 4 different values in my quaternion. I get these quaternions from a Sensor and the values are jumping a little bit.



0,65564 -0,125366 -0,67804 -0,307739
0,65564 -0,125305 -0,67804 -0,307678
0,65564 -0,125244 -0,67804 -0,307678
0,655701 -0,125244 -0,67804 -0,307617
0,655701 -0,125183 -0,678101 -0,307556
0,655701 -0,125122 -0,678101 -0,307556
0,655762 -0,125122 -0,678101 -0,307495


My sensor is not moving but i got this little difference. Can i calculate this difference in angles?




quaternions angle




share|cite|improve this question











in my Programm i am calculating Quaternions in Euler Angles. My values for pitch and roll are from -180 to +180, my yaw values are from -90 to +90. Thats
how i do my calculation.



 double pitchYawRollZ = (double)Math.Atan2(2*Y*W + 2*X*Z, 1 - 2*Y*Y - 2*Z*Z); // roll
 double pitchYawRollY = (double)Math.Atan2(2*X*W + 2*Y*Z, 1 - 2*X*X - 2*Z*Z); // pitch
 double pitchYawRollX = (double)Math.Asin(2*X*Y + 2*Z*W); // yaw

 pitchYawRollZ = pitchYawRollZ * (180 / Math.PI);
 pitchYawRollY = pitchYawRollY * (180 / Math.PI);
 pitchYawRollX = pitchYawRollX * (180 / Math.PI);


Is there something wrong or why isn't my yaw just so wierd. I also got one more question. I got 4 different values in my quaternion. I get these quaternions from a Sensor and the values are jumping a little bit.



0,65564 -0,125366 -0,67804 -0,307739
0,65564 -0,125305 -0,67804 -0,307678
0,65564 -0,125244 -0,67804 -0,307678
0,655701 -0,125244 -0,67804 -0,307617
0,655701 -0,125183 -0,678101 -0,307556
0,655701 -0,125122 -0,678101 -0,307556
0,655762 -0,125122 -0,678101 -0,307495


My sensor is not moving but i got this little difference. Can i calculate this difference in angles?





quaternions angle





share|cite|improve this question










share|cite|improve this question




share|cite|improve this question









asked Jul 26 at 13:15









Walter Nazarenus

1




1











  • Are you asking why the formula for yaw looks different from the pitch and roll formulae? If that's so, you can see similar formulae, and helpful links, in the answers to this question but be aware that there's a host of different conventions for the angles, which leads to various different versions of the formulae with different signs etc. Otherwise, you may need to clarify your question.
    – LonelyProf
    Jul 26 at 16:29
















  • Are you asking why the formula for yaw looks different from the pitch and roll formulae? If that's so, you can see similar formulae, and helpful links, in the answers to this question but be aware that there's a host of different conventions for the angles, which leads to various different versions of the formulae with different signs etc. Otherwise, you may need to clarify your question.
    – LonelyProf
    Jul 26 at 16:29















Are you asking why the formula for yaw looks different from the pitch and roll formulae? If that's so, you can see similar formulae, and helpful links, in the answers to this question but be aware that there's a host of different conventions for the angles, which leads to various different versions of the formulae with different signs etc. Otherwise, you may need to clarify your question.
– LonelyProf
Jul 26 at 16:29




Are you asking why the formula for yaw looks different from the pitch and roll formulae? If that's so, you can see similar formulae, and helpful links, in the answers to this question but be aware that there's a host of different conventions for the angles, which leads to various different versions of the formulae with different signs etc. Otherwise, you may need to clarify your question.
– LonelyProf
Jul 26 at 16:29















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