Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clarify Rotation3d roll-pitch-yaw direction (#4699)

Browse Source
This commit is contained in:
Tyler Veness
2022-11-23 23:12:59 -08:00
committed by GitHub
parent 9f0a8b930f
commit 2ee3d86de4
2 changed files with 8 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
View File

@@ -40,6 +40,10 @@ class WPILIB_DLLEXPORT Rotation3d {
* Extrinsic rotations occur in that order around the axes in the fixed global
* frame rather than the body frame.
*
* Angles are measured counterclockwise with the rotation axis pointing "out
* of the page". If you point your right thumb along the positive axis
* direction, your fingers curl in the direction of positive rotation.
*
* @param roll The counterclockwise rotation angle around the X axis (roll).
* @param pitch The counterclockwise rotation angle around the Y axis (pitch).
* @param yaw The counterclockwise rotation angle around the Z axis (yaw).