Manual quaternion example gives me a different result? What am I missing?
Just in general:
If i try run the example below i have a different result than the manual:
Mine is 1.93185, 0, 0.517638, 0.
Am i making a mistake? Is the example correct? Any input appreciated
double q1 = sqrt(cos(0.523599)+ 1 + cos(0.523599) +1);
double q2 = sqrt(cos(0.523599) 1  cos(0.523599) + 1);double q3 = sqrt(1  cos(0.523599)  cos(0.523599) + 1);
double q4 = sqrt(cos(0.523599)  cos(0.523599) 1 + 1);
Comments

Closer but that would be [ 0.2588223, 0, 0.9659249, 0 ] in abb notation?Abb notation is x, y, z, w?The result in the example looks correct (middle not rotated) unit but how?const robtarget test2_1_l0:=[[0.52, 30.00, 10.13], [0.9659249, 0, 0.2588223, 0],[1,0,1,0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
const robtarget test2_2_l0:=[[4.18, 29.71, 10.26], [0, 0.2588223, 0, 0.9659249],[1,0,1,0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]The doc doesnt exactly explain the notation?Components
The data type orient has the following components:
q1
Data type: num
Quaternion 1.
q2
Data type: num
Quaternion 2.
q3
Data type: num
Quaternion 3.
q4
Data type: num
Quaternion 4.
Post edited by k_schmid on 
Can we just confirm this is a correct example and the notation?Will robotstudio deal with scientific notation like 5.68811e14? I dont think it did in my quick test.The calculator show above is thishttps://www.andregaschler.com/rotationconverter/
Post edited by k_schmid on 
I think the Euler angles are in the order Z,Y,X.
As there is a RAPID function EulerZYX which obtains the rotation angles from the quaternions and OrientZYZ that build the quaternions. 
So we think the result is correct? Or that quaternions are q= [w,Z,Y,X]?Or both ?I am using libigl, a proven library and have trouble to make any sense of the results in robotstudio

Here is the result with EulerZYX

With const robtarget test2_1_l0:=[[0.52, 30.00, 10.13], [0.965926, 0, 0.258819, 0],[1,0,1,0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];only y has an angle

I am not any good at the math involved in this....
So I went online found a converter which used ZYX for the Euler input and plugged in 30,0,30  got a completely different result to the manual extract!
So had a good look at the diagram of the robot diagram in your extract from the manual it looks like a 30° rotation round the Y axis.
You plug those numbers into the converter ( z= 0, y=30, x=0) you get the result shown in the manual.
What was the manual you got the extract from and I will raise it as a correction? 
Thanks so much, that matches robotstudios result. The example this is page 11523 Data types
3.37. orient  Orientation
RobotWare  OSinABB Robotics
Technical reference manual
RAPID Instructions, Functions and Data typesI assume there isnt anything else available? No i know howit doesnt work mainly
Post edited by k_schmid on 
Can somebody confirm robotstudio has a righthanded coordinate system?

rotations are in world space? parent space?so my coordinate system is z down, right handed , ZYX order...
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