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To euler fix #128

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71a88fc
Fix of to_eulerian function to handle singularities (pitch 90 or -90)
Mar 30, 2025
1d2074b
Updated threshold for sigularity based on results from testing
Mar 31, 2025
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35 changes: 18 additions & 17 deletions PythonClient/airsim/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,31 +51,32 @@ def write_file(filename, bstr):

# helper method for converting getOrientation to roll/pitch/yaw
# https:#en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

def to_eularian_angles(q):
z = q.z_val
y = q.y_val
x = q.x_val
w = q.w_val
ysqr = y * y

# roll (x-axis rotation)
t0 = +2.0 * (w*x + y*z)
t1 = +1.0 - 2.0*(x*x + ysqr)
roll = math.atan2(t0, t1)

# pitch (y-axis rotation)
t2 = +2.0 * (w*y - z*x)
if (t2 > 1.0):
t2 = 1
if (t2 < -1.0):
t2 = -1.0
pitch = math.asin(t2)

# yaw (z-axis rotation)
t3 = +2.0 * (w*z + x*y)
t4 = +1.0 - 2.0 * (ysqr + z*z)
yaw = math.atan2(t3, t4)
test = +2.0 * (w*y - z*x)
#pitch near -90 or 90 need to be handled differently
if (abs(test) > 0.999999):
pitch = math.pi/2 * test
yaw = 2 * math.atan2(z,w)
roll = 0
else:
#not sigularity
pitch = math.asin(test)
# roll (x-axis rotation)
t0 = +2.0 * (w*x + y*z)
t1 = +1.0 - 2.0*(x*x + ysqr)
roll = math.atan2(t0, t1)
# yaw (z-axis rotation)
t2 = +2.0 * (w*z + x*y)
t3 = +1.0 - 2.0 * (ysqr + z*z)
yaw = math.atan2(t2, t3)

return (pitch, roll, yaw)

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