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us.ihmc.euclid.rotationConversion.YawPitchRollConversion类的使用及代码示例

转载 作者：知者 更新时间：2024-03-14 11:32:49 25 4
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本文整理了Java中us.ihmc.euclid.rotationConversion.YawPitchRollConversion类的一些代码示例，展示了YawPitchRollConversion类的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YawPitchRollConversion类的具体详情如下：
包路径：us.ihmc.euclid.rotationConversion.YawPitchRollConversion
类名称：YawPitchRollConversion

YawPitchRollConversion介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/euclid-test

double qs = quaternion.getS();
double actualYaw = YawPitchRollConversion.computeYawFromQuaternionImpl(qx, qy, qz, qs);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, epsilon);
double actualPitch = YawPitchRollConversion.computePitchFromQuaternionImpl(qx, qy, qz, qs);
assertEquals(pitch, actualPitch, epsilon);
double actualRoll = YawPitchRollConversion.computeRollFromQuaternionImpl(qx, qy, qz, qs);
EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, epsilon);
actualYaw = YawPitchRollConversion.computeYaw(quaternion);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, epsilon);
actualPitch = YawPitchRollConversion.computePitch(quaternion);
assertEquals(pitch, actualPitch, epsilon);
actualRoll = YawPitchRollConversion.computeRoll(quaternion);
EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, epsilon);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualYawPitchRoll);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYawPitchRoll[0], epsilon);
assertEquals(pitch, actualYawPitchRoll[1], epsilon);
EuclidCoreTestTools.assertAngleEquals(roll, actualYawPitchRoll[2], epsilon);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualEulerAngles);
EuclidCoreTestTools.assertAngleEquals(yaw, actualEulerAngles.getZ(), epsilon);
assertEquals(pitch, actualEulerAngles.getY(), epsilon);

代码示例来源：origin: us.ihmc/euclid-test

YawPitchRollReadOnly convertToYawPitchRoll()
{
  YawPitchRoll yawPitchRoll = new YawPitchRoll();
  switch (this)
  {
  case MATRIX:
   YawPitchRollConversion.convertMatrixToYawPitchRoll((RotationMatrixReadOnly) rotationHolder, yawPitchRoll);
   break;
  case AXISANGLE:
   YawPitchRollConversion.convertAxisAngleToYawPitchRoll((AxisAngleReadOnly) rotationHolder, yawPitchRoll);
   break;
  case QUATERNION:
   YawPitchRollConversion.convertQuaternionToYawPitchRoll((QuaternionReadOnly) rotationHolder, yawPitchRoll);
   break;
  case VECTOR:
   YawPitchRollConversion.convertRotationVectorToYawPitchRoll((Vector3DReadOnly) rotationHolder, yawPitchRoll);
   break;
  case YAW_PITCH_ROLL:
   yawPitchRoll.set((YawPitchRollReadOnly) rotationHolder);
   break;
  default:
   throw exception(this);
  }
  return yawPitchRoll;
}

代码示例来源：origin: us.ihmc/euclid-test

double angle = axisAngle.getAngle();
double actualYaw = YawPitchRollConversion.computeYawFromAxisAngleImpl(ux, uy, uz, angle);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, epsilon);
double actualPitch = YawPitchRollConversion.computePitchFromAxisAngleImpl(ux, uy, uz, angle);
assertEquals(pitch, actualPitch, epsilon);
double actualRoll = YawPitchRollConversion.computeRollFromAxisAngleImpl(ux, uy, uz, angle);
EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, epsilon);
actualYaw = YawPitchRollConversion.computeYaw(axisAngle);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, epsilon);
actualPitch = YawPitchRollConversion.computePitch(axisAngle);
assertEquals(pitch, actualPitch, epsilon);
actualRoll = YawPitchRollConversion.computeRoll(axisAngle);
EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, epsilon);
YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, actualYawPitchRoll);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYawPitchRoll[0], epsilon);
assertEquals(pitch, actualYawPitchRoll[1], epsilon);
EuclidCoreTestTools.assertAngleEquals(roll, actualYawPitchRoll[2], epsilon);
YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, actualEulerAngles);
EuclidCoreTestTools.assertAngleEquals(yaw, actualEulerAngles.getZ(), epsilon);
assertEquals(pitch, actualEulerAngles.getY(), epsilon);

代码示例来源：origin: us.ihmc/euclid-test

double actualYaw = YawPitchRollConversion.computeYaw(matrix);
     assertEquals(yaw, actualYaw, EPSILON);
     double actualPitch = YawPitchRollConversion.computePitch(matrix);
     assertEquals(pitch, actualPitch, EPSILON);
     double actualRoll = YawPitchRollConversion.computeRoll(matrix);
     assertEquals(roll, actualRoll, EPSILON);
     YawPitchRollConversion.convertMatrixToYawPitchRoll(matrix, actualYawPitchRoll);
     assertEquals(yaw, actualYawPitchRoll[0], EPSILON);
     assertEquals(pitch, actualYawPitchRoll[1], EPSILON);
     assertEquals(roll, actualYawPitchRoll[2], EPSILON);
     YawPitchRollConversion.convertMatrixToYawPitchRoll(matrix, actualEulerAngles);
     assertEquals(yaw, actualEulerAngles.getZ(), EPSILON);
     assertEquals(pitch, actualEulerAngles.getY(), EPSILON);
double actualYaw = YawPitchRollConversion.computeYawImpl(1.0, 0.0);
assertTrue(actualYaw == 0.0);
actualYaw = YawPitchRollConversion.computeYawImpl(Double.NaN, 0.0);
assertTrue(Double.isNaN(actualYaw));
actualYaw = YawPitchRollConversion.computeYawImpl(0.0, Double.NaN);
assertTrue(Double.isNaN(actualYaw));
double actualPitch = YawPitchRollConversion.computePitchImpl(0.0);
assertTrue(actualPitch == 0.0);
actualPitch = YawPitchRollConversion.computePitchImpl(Double.NaN);
assertTrue(Double.isNaN(actualPitch));

代码示例来源：origin: us.ihmc/ihmc-kalman-project

/**
* Updates the IMU given the rate gyro inputs.
*
* @param pqr Matrix Gyro Rate values in order of qd_wy, qd_wx, qd_wz???
*/
public void imuUpdate(DenseMatrix64F pqr)
{
 CommonOps.subtractEquals(pqr, bias);
 unpackQuaternion(q);
 makeAMatrix(pqr);
 propagateState(pqr);
 propagateCovariance(A);
 /* compute angles from quaternions */
 Quaternion quaternion = new Quaternion();
 quaternion.set(q);
 YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, eulerAngles);
}

代码示例来源：origin: us.ihmc/euclid-test

double actualYaw = YawPitchRollConversion.computeYaw(quaternion);
     EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, EPSILON);
     double actualPitch = YawPitchRollConversion.computePitch(quaternion);
     assertEquals(pitch, actualPitch, EPSILON);
     double actualRoll = YawPitchRollConversion.computeRoll(quaternion);
     EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, EPSILON);
     YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualYawPitchRoll);
     EuclidCoreTestTools.assertAngleEquals(yaw, actualYawPitchRoll[0], EPSILON);
     assertEquals(pitch, actualYawPitchRoll[1], EPSILON);
     EuclidCoreTestTools.assertAngleEquals(roll, actualYawPitchRoll[2], EPSILON);
     YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualEulerAngles);
     EuclidCoreTestTools.assertAngleEquals(yaw, actualEulerAngles.getZ(), EPSILON);
     assertEquals(pitch, actualEulerAngles.getY(), EPSILON);
double actualYaw = YawPitchRollConversion.computeYaw(quaternion);
assertTrue(actualYaw == 0.0);
double actualPitch = YawPitchRollConversion.computePitch(quaternion);
assertTrue(actualPitch == 0.0);
double actualRoll = YawPitchRollConversion.computeRoll(quaternion);
assertTrue(actualRoll == 0.0);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualYawPitchRoll);
assertTrue(actualYawPitchRoll[0] == 0.0);

代码示例来源：origin: us.ihmc/ihmc-manipulation-planning

randomQuat.norm();
YawPitchRollConversion.convertQuaternionToYawPitchRoll(randomQuat, randomYPR);
YawPitchRollConversion.convertMatrixToYawPitchRoll(closestTransform.getRotationMatrix(), closestYPR);

代码示例来源：origin: us.ihmc/euclid-test

double actualYaw = YawPitchRollConversion.computeYaw(rotationVector);
assertTrue(actualYaw == 0.0);
double actualPitch = YawPitchRollConversion.computePitch(rotationVector);
assertTrue(actualPitch == 0.0);
double actualRoll = YawPitchRollConversion.computeRoll(rotationVector);
assertTrue(actualRoll == 0.0);
YawPitchRollConversion.convertRotationVectorToYawPitchRoll(rotationVector, actualYawPitchRoll);
assertTrue(actualYawPitchRoll[0] == 0.0);
assertTrue(actualYawPitchRoll[1] == 0.0);
assertTrue(actualYawPitchRoll[2] == 0.0);
YawPitchRollConversion.convertRotationVectorToYawPitchRoll(rotationVector, actualEulerAngles);
EuclidCoreTestTools.assertTuple3DIsSetToZero(actualEulerAngles);
actualYaw = YawPitchRollConversion.computeYaw(rotationVector);
assertTrue(Double.isNaN(actualYaw));
actualPitch = YawPitchRollConversion.computePitch(rotationVector);
assertTrue(Double.isNaN(actualPitch));
actualRoll = YawPitchRollConversion.computeRoll(rotationVector);
assertTrue(Double.isNaN(actualRoll));
YawPitchRollConversion.convertRotationVectorToYawPitchRoll(rotationVector, actualYawPitchRoll);
assertTrue(Double.isNaN(actualYawPitchRoll[0]));
assertTrue(Double.isNaN(actualYawPitchRoll[1]));

代码示例来源：origin: us.ihmc/euclid-test

double actualYaw = YawPitchRollConversion.computeYaw(axisAngle);
     EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, EPSILON);
     double actualPitch = YawPitchRollConversion.computePitch(axisAngle);
     assertEquals(pitch, actualPitch, EPSILON);
     double actualRoll = YawPitchRollConversion.computeRoll(axisAngle);
     EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, EPSILON);
     YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, actualYawPitchRoll);
     EuclidCoreTestTools.assertAngleEquals(yaw, actualYawPitchRoll[0], EPSILON);
     assertEquals(pitch, actualYawPitchRoll[1], EPSILON);
     EuclidCoreTestTools.assertAngleEquals(roll, actualYawPitchRoll[2], EPSILON);
     YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, actualEulerAngles);
     EuclidCoreTestTools.assertAngleEquals(yaw, actualEulerAngles.getZ(), EPSILON);
     assertEquals(pitch, actualEulerAngles.getY(), EPSILON);
double actualYaw = YawPitchRollConversion.computeYaw(axisAngle);
assertTrue(actualYaw == 0.0);
double actualPitch = YawPitchRollConversion.computePitch(axisAngle);
assertTrue(actualPitch == 0.0);
double actualRoll = YawPitchRollConversion.computeRoll(axisAngle);
assertTrue(actualRoll == 0.0);
YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, actualYawPitchRoll);
assertTrue(actualYawPitchRoll[0] == 0.0);

代码示例来源：origin: us.ihmc/euclid-test

@Test
public void testGetEuler()
{
 Random random = new Random(65466L);
 RotationMatrix yawPitchRoll = new RotationMatrix(), expected;
 Vector3D eulerAngles = new Vector3D();
 Vector3D eulerAnglesCopy = new Vector3D();
 for (int i = 0; i < ITERATIONS; i++)
   try
   {
    expected = yawPitchRoll = EuclidCoreRandomTools.nextRotationMatrix(random);
    yawPitchRoll.getEuler(eulerAngles);
    YawPitchRollConversion.convertMatrixToYawPitchRoll(expected, eulerAnglesCopy);
    EuclidCoreTestTools.assertRotationVectorGeometricallyEquals(eulerAngles, eulerAnglesCopy, EPS);
    EuclidCoreTestTools.assertMatrix3DEquals(yawPitchRoll, expected, EPS);
   }
   catch (AssertionError e)
   {
    double pitch = YawPitchRollConversion.computePitch(yawPitchRoll);
    if (!Double.isNaN(pitch))
      throw e;
   }
}

代码示例来源：origin: us.ihmc/euclid-test

@Test
public void testGetToYawPitchRollMatrix()
{
 Random random = new Random(35454L);
 RotationMatrix rotationMatrix, expectedMatrix;
 for (int i = 0; i < ITERATIONS; i++)
 {
   rotationMatrix = expectedMatrix = EuclidCoreRandomTools.nextRotationMatrix(random);
   { // Test getToPitchMatrix()
    double pitch = rotationMatrix.getPitch();
    double expectedPitch = YawPitchRollConversion.computePitch(expectedMatrix);
    Assert.assertEquals(pitch, expectedPitch, EPS);
    EuclidCoreTestTools.assertMatrix3DEquals(rotationMatrix, expectedMatrix, EPS);
   }
   { // Test getToRollMatrix()
    double roll = rotationMatrix.getRoll();
    double expectedRoll = YawPitchRollConversion.computeRoll(expectedMatrix);
    Assert.assertEquals(roll, expectedRoll, EPS);
    EuclidCoreTestTools.assertMatrix3DEquals(rotationMatrix, expectedMatrix, EPS);
   }
   { // Test getToYawMatrix()
    double yaw = rotationMatrix.getYaw();
    double expectedYaw = YawPitchRollConversion.computeYaw(expectedMatrix);
    Assert.assertEquals(yaw, expectedYaw, EPS);
    EuclidCoreTestTools.assertMatrix3DEquals(rotationMatrix, expectedMatrix, EPS);
    EuclidCoreTestTools.assertMatrix3DEquals(rotationMatrix, expectedMatrix, EPS);
   }
 }
}

代码示例来源：origin: us.ihmc/euclid-test

@Test
public void testGetRotationYawPitchRoll() throws Exception
{
 Random random = new Random(564651L);
 { // Test getRotationYawPitchRoll(double[] yawPitchRollToPack)
   RotationScaleMatrix rotationScaleMatrix = EuclidCoreRandomTools.nextRotationScaleMatrix(random, 10.0);
   double[] yawPitchRollActual = new double[3];
   rotationScaleMatrix.getRotationYawPitchRoll(yawPitchRollActual);
   double[] yawPitchRollExpected = new double[3];
   YawPitchRollConversion.convertMatrixToYawPitchRoll(rotationScaleMatrix.getRotationMatrix(), yawPitchRollExpected);
   EuclidCoreTestTools.assertYawPitchRollEquals(yawPitchRollExpected, yawPitchRollActual, EPS);
 }
 { // Test getRotationYaw(), getRotationPitch(), and getRotationRoll()
   RotationScaleMatrix rotationScaleMatrix = EuclidCoreRandomTools.nextRotationScaleMatrix(random, 10.0);
   double[] yawPitchRollActual = {rotationScaleMatrix.getRotationYaw(), rotationScaleMatrix.getRotationPitch(), rotationScaleMatrix.getRotationRoll()};
   double[] yawPitchRollExpected = new double[3];
   YawPitchRollConversion.convertMatrixToYawPitchRoll(rotationScaleMatrix.getRotationMatrix(), yawPitchRollExpected);
   EuclidCoreTestTools.assertYawPitchRollEquals(yawPitchRollExpected, yawPitchRollActual, EPS);
 }
}

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces

private void setPelvisYoVariables(RigidBodyTransform pelvisTransform)
{
 Vector3D pelvisTranslation = new Vector3D();
 double[] yawPitchRoll = new double[3];
 pelvisTransform.getTranslation(pelvisTranslation);
 Quaternion pelvisRotation = new Quaternion();
 pelvisTransform.getRotation(pelvisRotation);
 YawPitchRollConversion.convertQuaternionToYawPitchRoll(pelvisRotation, yawPitchRoll);
 computedPelvisPositionX.set(pelvisTranslation.getX());
 computedPelvisPositionY.set(pelvisTranslation.getY());
 computedPelvisPositionZ.set(pelvisTranslation.getZ());
 computedPelvisYaw.set(yawPitchRoll[0]);
 computedPelvisPitch.set(yawPitchRoll[1]);
 computedPelvisRoll.set(yawPitchRoll[2]);
}

代码示例来源：origin: us.ihmc/euclid-test

quaternion.getYawPitchRoll(yawPitchRoll);
double[] expectedYawPitchRoll = new double[4];
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, expectedYawPitchRoll);
quaternion.getEuler(eulerAngles);
Vector3DBasics expectedEulerAngles = new Vector3D();
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, expectedEulerAngles);
EuclidCoreTestTools.assertTuple3DEquals(expectedEulerAngles, eulerAngles, getEpsilon());
double expectedYaw = YawPitchRollConversion.computeYaw(quaternion);
Assert.assertEquals(yaw, expectedYaw, getEpsilon());
double expectedPitch = YawPitchRollConversion.computePitch(quaternion);
Assert.assertEquals(pitch, expectedPitch, getEpsilon());
double expectedRoll = YawPitchRollConversion.computeRoll(quaternion);
Assert.assertEquals(roll, expectedRoll, getEpsilon());

代码示例来源：origin: us.ihmc/euclid-test

double actualYaw = YawPitchRollConversion.computeYawImpl(matrix.getM00(), matrix.getM10());
     assertEquals(yaw, actualYaw, EPSILON);
     double actualPitch = YawPitchRollConversion.computePitchImpl(matrix.getM20());
     assertEquals(pitch, actualPitch, EPSILON);
     double actualRoll = YawPitchRollConversion.computeRollImpl(matrix.getM21(), matrix.getM22());
     assertEquals(roll, actualRoll, EPSILON);
     actualYaw = YawPitchRollConversion.computeYaw(matrix);
     assertEquals(yaw, actualYaw, EPSILON);
     actualPitch = YawPitchRollConversion.computePitch(matrix);
     assertEquals(pitch, actualPitch, EPSILON);
     actualRoll = YawPitchRollConversion.computeRoll(matrix);
     assertEquals(roll, actualRoll, EPSILON);
     YawPitchRollConversion.convertMatrixToYawPitchRoll(matrix, actualYawPitchRoll);
     assertEquals(yaw, actualYawPitchRoll[0], EPSILON);
     assertEquals(pitch, actualYawPitchRoll[1], EPSILON);
     assertEquals(roll, actualYawPitchRoll[2], EPSILON);
     YawPitchRollConversion.convertMatrixToYawPitchRoll(matrix, actualEulerAngles);
     assertEquals(yaw, actualEulerAngles.getZ(), EPSILON);
     assertEquals(pitch, actualEulerAngles.getY(), EPSILON);
double actualYaw = YawPitchRollConversion.computeYawImpl(1.0, 0.0);
assertTrue(actualYaw == 0.0);

代码示例来源：origin: us.ihmc/euclid-test

rotationVectorCopy.set(rotationVector);
double actualYaw = YawPitchRollConversion.computeYaw(rotationVector);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYaw, epsilon);
assertTrue(rotationVector.equals(rotationVectorCopy));
double actualPitch = YawPitchRollConversion.computePitch(rotationVector);
assertEquals(pitch, actualPitch, epsilon);
assertTrue(rotationVector.equals(rotationVectorCopy));
double actualRoll = YawPitchRollConversion.computeRoll(rotationVector);
EuclidCoreTestTools.assertAngleEquals(roll, actualRoll, epsilon);
assertTrue(rotationVector.equals(rotationVectorCopy));
YawPitchRollConversion.convertRotationVectorToYawPitchRoll(rotationVector, actualYawPitchRoll);
EuclidCoreTestTools.assertAngleEquals(yaw, actualYawPitchRoll[0], epsilon);
assertEquals(pitch, actualYawPitchRoll[1], epsilon);
assertTrue(rotationVector.equals(rotationVectorCopy));
YawPitchRollConversion.convertRotationVectorToYawPitchRoll(rotationVector, actualEulerAngles);
EuclidCoreTestTools.assertAngleEquals(yaw, actualEulerAngles.getZ(), epsilon);
assertEquals(pitch, actualEulerAngles.getY(), epsilon);

代码示例来源：origin: us.ihmc/euclid-test

axisAngle.getYawPitchRoll(yawPitchRoll);
double[] expectedYawPitchRoll = new double[4];
YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, expectedYawPitchRoll);
double expectedYaw = YawPitchRollConversion.computeYaw(axisAngle);
Assert.assertEquals(yaw, expectedYaw, getEpsilon());
double expectedPitch = YawPitchRollConversion.computePitch(axisAngle);
Assert.assertEquals(pitch, expectedPitch, getEpsilon());
double expectedRoll = YawPitchRollConversion.computeRoll(axisAngle);
Assert.assertEquals(roll, expectedRoll, getEpsilon());

代码示例来源：origin: us.ihmc/ihmc-avatar-interfaces-test

targets[i].getRotation(targetQuat);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(targetQuat, yawPitchRoll);
target.setYawPitchRoll(yawPitchRoll);
target.setXYZ(targetTranslation.getX(), targetTranslation.getY(), targetTranslation.getZ());

代码示例来源：origin: us.ihmc/euclid-test

YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, expectedYPR);
EuclidCoreTestTools.assertYawPitchRollEquals(expectedYPR, actualYPR, getEpsilon());
YawPitchRollConversion.convertMatrixToYawPitchRoll(matrix, expectedYPR);
EuclidCoreTestTools.assertYawPitchRollEquals(expectedYPR, actualYPR, getEpsilon());
YawPitchRollConversion.convertRotationVectorToYawPitchRoll(rotationVector, expectedYPR);
EuclidCoreTestTools.assertYawPitchRollEquals(expectedYPR, actualYPR, getEpsilon());
YawPitchRollConversion.convertAxisAngleToYawPitchRoll(axisAngle, expectedYPR);
EuclidCoreTestTools.assertYawPitchRollEquals(expectedYPR, actualYPR, getEpsilon());

代码示例来源：origin: us.ihmc/acsell

public void update()
{
 read();
 accel2quaternions(accel, pYawMagnet.getDoubleValue());
 xsens.getQuaternion(xsensQuat);
 xsensMatrix.set(xsensQuat);
 YawPitchRollConversion.convertQuaternionToYawPitchRoll(xsensQuat, yawPitchRoll);
 xsens_yaw.update(yawPitchRoll[0]);
 xsens_pitch.update(yawPitchRoll[1]);
 xsens_roll.update(yawPitchRoll[2]);
 q_calc_torso_x.set(torso_roll.getDoubleValue() - xsens_roll.getDoubleValue());
 q_calc_torso_y.set(torso_pitch.getDoubleValue() - xsens_pitch.getDoubleValue());
 q_calc_torso_z.set(0.0);
}

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