old vs new convention for rotation matrices
Hey, I changed the euler file accordingly and tried to repair all the tests. But the problem is, that I would also have to change the homogeneous transformations file. because in the old convention the rotation matrices where as follow:
1 | 0 | 0 | 0 |
0 | a | b | c |
0 | d | e | f |
0 | g | h | i |
and now they are
a | b | c | 0 |
d | e | f | 0 |
g | h | i | 1 |
0 | 0 | 0 | 1 |
For now I put functions that convert from one to the other in the homogeneous_transformation file, but I am not sure if that is a good idea or if we should stick to the new convention in the there too. What shall I do?
Also I changed the quaternions according to the attitude paper. but I still have to put the references.
Edited by Luise Odenthal