本文整理了Java中us.ihmc.euclid.rotationConversion.YawPitchRollConversion.convertQuaternionToYawPitchRoll()方法的一些代码示例，展示了YawPitchRollConversion.convertQuaternionToYawPitchRoll()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.convertQuaternionToYawPitchRoll()方法的具体详情如下：
包路径：us.ihmc.euclid.rotationConversion.YawPitchRollConversion
类名称：YawPitchRollConversion
方法名：convertQuaternionToYawPitchRoll

YawPitchRollConversion.convertQuaternionToYawPitchRoll介绍

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代码示例

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

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

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);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualYawPitchRoll);
assertTrue(actualYawPitchRoll[0] == 0.0);
assertTrue(actualYawPitchRoll[1] == 0.0);
assertTrue(actualYawPitchRoll[2] == 0.0);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualEulerAngles);
EuclidCoreTestTools.assertTuple3DIsSetToZero(actualEulerAngles);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualYawPitchRoll);
assertTrue(Double.isNaN(actualYawPitchRoll[0]));
assertTrue(Double.isNaN(actualYawPitchRoll[1]));
assertTrue(Double.isNaN(actualYawPitchRoll[2]));
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualEulerAngles);
EuclidCoreTestTools.assertTuple3DContainsOnlyNaN(actualEulerAngles);
YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, actualYawPitchRoll);
assertTrue(Double.isNaN(actualYawPitchRoll[0]));
assertTrue(Double.isNaN(actualYawPitchRoll[1]));
assertTrue(Double.isNaN(actualYawPitchRoll[2]));

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());

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/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);
}

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

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/ihmc-avatar-interfaces

private void computeDriftTransform()
{
 RigidBodyTransform driftTransform = new RigidBodyTransform();
 pelvisFrameFromMocap.update();
 pelvisFrameFromRobotConfigurationDataPacket.update();
 pelvisFrameFromMocap.getTransformToDesiredFrame(driftTransform, pelvisFrameFromRobotConfigurationDataPacket);
 
 Vector3D driftTranslation = new Vector3D();
 driftTransform.getTranslation(driftTranslation);
 
 Quaternion driftRotation = new Quaternion();
 driftTransform.getRotation(driftRotation);
 double[] driftRotationYPR = new double[3];
 YawPitchRollConversion.convertQuaternionToYawPitchRoll(driftRotation, driftRotationYPR);
 
 mocapWorldToRobotWorldTransformX.set(driftTranslation.getX());
 mocapWorldToRobotWorldTransformY.set(driftTranslation.getY());
 mocapWorldToRobotWorldTransformZ.set(driftTranslation.getZ());
 
 mocapWorldToRobotWorldTransformYaw.set(driftRotationYPR[0]);
 mocapWorldToRobotWorldTransformPitch.set(driftRotationYPR[1]);
 mocapWorldToRobotWorldTransformRoll.set(driftRotationYPR[2]);      
}

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

randomQuat.norm();
YawPitchRollConversion.convertQuaternionToYawPitchRoll(randomQuat, randomYPR);

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

void doKalman(DenseMatrix64F C, DenseMatrix64F R, DenseMatrix64F error)
{
 // We throw away the K result
 // Kalman() wants a vector, not an object.  Serialize the
 // state data into this vector, then extract it out again
 // once we're done with the loop.
 double[][] x_vect =
 {
   {q.get(0, 0)}, {q.get(1, 0)}, {q.get(2, 0)}, {q.get(3, 0)}, {bias.get(0, 0)}, {bias.get(1, 0)}, {bias.get(2, 0)}
 };
 DenseMatrix64F X_vect = new DenseMatrix64F(x_vect);
 Kalman(P, X_vect, C, R, error, K);
 q.set(0, 0, X_vect.get(0, 0));
 q.set(1, 0, X_vect.get(1, 0));
 q.set(2, 0, X_vect.get(2, 0));
 q.set(3, 0, X_vect.get(3, 0));
 bias.set(0, 0, X_vect.get(4, 0));
 bias.set(1, 0, X_vect.get(5, 0));
 bias.set(2, 0, X_vect.get(6, 0));
 normalize(q);
 Quaternion quaternion = new Quaternion();
 quaternion.set(q);
 YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, eulerAngles);
}

代码示例来源：origin: us.ihmc/euclid-test

YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, expectedYPR);
EuclidCoreTestTools.assertYawPitchRollEquals(expectedYPR, actualYPR, getEpsilon());

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

YawPitchRollConversion.convertQuaternionToYawPitchRoll(quaternion, angles_e);