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计算目标滚转、俯仰和偏航角给定初始和目标位置以及初始滚转、俯仰和偏航角

[英]Compute target roll, pitch and yaw angles given initial and target positions and intial roll, pitch and yaw angles

原文 2018-09-07 19:12:02 1 1 opengl/ vector/ graphics/ 3d/ robotics

I have a model that moves in simulation world.我有一个在模拟世界中移动的模型。 The frame of operation is right handed with X - forward, Y - left and Z - Up.操作框架是右手，X - 向前，Y - 左和 Z - 向上。

I know the current position, P1 (x1, y1, z1) and current RPY angles, (R1, P1, Y1) .我知道当前位置P1 (x1, y1, z1)和当前 RPY 角度(R1, P1, Y1) 。 I have a goal position, P2 (x2, y2, z2) .我有一个目标位置P2 (x2, y2, z2) 。 I would like to move my model from P1 to P2 .我想将我的模型从P1移动到P2 。 I am stuck at computing the goal RPY angles.我一直在计算目标 RPY 角度。 I would like my model to turn around first in the direction from P1 to P2 and move in that direction to reach goal.我希望我的模型首先转向从 P1 到 P2 的方向，然后朝那个方向移动以达到目标。

How do I calculate the target RPY angles, (R2, P2, Y2) , given the above information ?鉴于上述信息，我如何计算目标 RPY 角度(R2, P2, Y2) ？

1 个解决方案

Calculate the direction vector D = P2 - P1 = (x2 - x1, y2 - y1, z2 - z1)计算方向向量D = P2 - P1 = (x2 - x1, y2 - y1, z2 - z1)
Pitch P2 = asin(Dz / |D|)音高P2 = asin(Dz / |D|)
Yaw Y2 = atan2(Dy, Dx)偏航Y2 = atan2(Dy, Dx)

(NB can use P2 = atan2(Dz, sqrt(Dx^2 + Dy^2)) instead for more robustness near the spherical poles) （NB 可以使用P2 = atan2(Dz, sqrt(Dx^2 + Dy^2))来代替球极附近的更多鲁棒性）

偏航，俯仰和滚动到glm ::旋转 - Yaw, Pitch and roll to glm::rotate

俯仰，偏航，横滚计算混乱 - Pitch, Yaw, Roll calculation confusion

俯仰偏航角，角度独立 - pitch yaw roll, angle independency

变桨偏航累积opengl - Pitch Yaw Roll accumulation opengl

OpenAL侦听器从俯仰和滚动的方向 - OpenAL listener orientation from pitch yaw And roll

从偏航、俯仰和向上矢量计算横滚 - Calculating roll from yaw, pitch, and up vector

从OpenGL模型视图矩阵获取和设置俯仰偏航角 - Getting and Setting Pitch Yaw Roll from/to OpenGL modelview matrix

如何根据 yaw、pitch 和 roll 值旋转处理中的对象 - How to rotate an object in processing according to yaw, pitch and roll values

怎么可以简单地调用Pitch（）和Yaw（）导致相机最终Roll（）？ - How could simply calling Pitch() and Yaw() cause the camera to eventually Roll()?

如何从滚动，俯仰和偏航中获取相机向上矢量？ - How to get camera up vector from roll, pitch, and yaw?

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相关问题 偏航，俯仰和滚动到glm ::旋转 - Yaw, Pitch and roll to glm::rotate 俯仰，偏航，横滚计算混乱 - Pitch, Yaw, Roll calculation confusion 俯仰偏航角，角度独立 - pitch yaw roll, angle independency 变桨偏航累积opengl - Pitch Yaw Roll accumulation opengl OpenAL侦听器从俯仰和滚动的方向 - OpenAL listener orientation from pitch yaw And roll 从偏航、俯仰和向上矢量计算横滚 - Calculating roll from yaw, pitch, and up vector 从OpenGL模型视图矩阵获取和设置俯仰偏航角 - Getting and Setting Pitch Yaw Roll from/to OpenGL modelview matrix 如何根据 yaw、pitch 和 roll 值旋转处理中的对象 - How to rotate an object in processing according to yaw, pitch and roll values 怎么可以简单地调用Pitch（）和Yaw（）导致相机最终Roll（）？ - How could simply calling Pitch() and Yaw() cause the camera to eventually Roll()? 如何从滚动，俯仰和偏航中获取相机向上矢量？ - How to get camera up vector from roll, pitch, and yaw?

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