{"id":33,"date":"2024-04-04T08:01:23","date_gmt":"2024-04-04T05:01:23","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/euleri-nurkadeks-teisendamine\/"},"modified":"2024-04-04T08:03:58","modified_gmt":"2024-04-04T05:03:58","slug":"euleri-nurkadeks-teisendamine","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/euleri-nurkadeks-teisendamine\/","title":{"rendered":"Lisamaterjal: Euleri nurkadeks teisendamine"},"content":{"rendered":"
\n

\n\t\tNagu varem \u00f5ppisime, siis kimp ar_track_alvar<\/span> annab meile teada orientatsiooni kvaternionina. Selleks, et seda inimm\u00f5istetaval kujul t\u00f5lgendada, teisendame kvaternioni Euleri nurkadeks.<\/strong>\n\t<\/p>\n<\/blockquote>\n

\n\tAR m\u00e4rgiste p\u00f5hjal roboti positsiooni hindamine on lihtne, sest positsiooni komponentide (x, y, z) \u00fchikuteks on meetrid. N\u00e4eme positsiooni v\u00e4\u00e4rtuste j\u00e4rgi, mitu meetrit igas teljes robot m\u00e4rgisest paikneb. Orientatsiooniga on natuke keerulisem.<\/span>\n<\/p>\n

\n\tTuletame meelde, millised on orientatsiooni komponendid, kasutades j\u00e4rgnevat pilti.<\/span>\n<\/p>\n

\n\t\".\"\n<\/p>\n

\n\tSarnaselt positsiooniga n\u00e4eme ka orientatsiooni puhul komponente x, y, z, lisaks veel w. Vaatamata sarnasusele ei ole aga tegemist meetritega, ega isegi nurkadega kraadides. Komponendid x, y, z, w moodustavad kvaternioni<\/strong>, mis on matemaatiline konstruktsioon, mida saab kasutada nurkade kirjeldamiseks kolmem\u00f5\u00f5tmelises ruumis.<\/span>\n<\/p>\n

\n\tKvaternioni komponentide p\u00f5hjal roboti juhtimine on keeruline, sest nende v\u00e4\u00e4rtuste muutumises on raske n\u00e4ha inimm\u00f5istetavat mustrit. Roboti liigutamiseks peame AR m\u00e4rgise asendi p\u00f5hjal robotile andma lineaarse- ja nurkkiiruse, aga see on keeruline, kui me ei tea, mis vahemikus arve on \u00fcldse vaja teisendada. Seet\u00f5ttu on kasulik teisendada esmalt kvaternionid Euleri nurkadeks.<\/span>\n<\/p>\n

\n\tSelle jaoks on \u00f5nneks juba olemas sobivad funktsioonid. Pythoni jaoks on olemas teek nimega tf<\/span>, millel on moodul transformations<\/span>. Selles moodulis on funktsioon nimega euler_from_quaternion()<\/span>, mille sisendiks on kvaternion ja v\u00e4ljundiks on j\u00e4rjend Euleri nurkadega. Allpool on toodud n\u00e4ide tf.transformations.euler_from_quaternion()<\/span> funktsiooni kasutamisest.<\/span>\n<\/p>\n

import<\/span> <\/span>tf<\/span>\r\n...\r\ndef callback(data):\r\n    for<\/span> marker <\/span>in<\/span> data<\/span>.<\/span>markers:<\/span>\r\n        marker_ori <\/span>=<\/span> (<\/span>\r\n            marker<\/span>.<\/span>pose<\/span>.<\/span>pose<\/span>.<\/span>orientation<\/span>.<\/span>x,<\/span>\r\n            marker<\/span>.<\/span>pose<\/span>.<\/span>pose<\/span>.<\/span>orientation<\/span>.<\/span>y,<\/span>\r\n            marker<\/span>.<\/span>pose<\/span>.<\/span>pose<\/span>.<\/span>orientation<\/span>.<\/span>z,<\/span>\r\n            marker<\/span>.<\/span>pose<\/span>.<\/span>pose<\/span>.<\/span>orientation<\/span>.<\/span>w)<\/span>\r\n\r\n        euler <\/span>=<\/span> tf<\/span>.<\/span>transformations<\/span>.<\/span>euler_from_quaternion(marker_ori)<\/span>\r\n        roll <\/span>=<\/span> euler[<\/span>0<\/span>]<\/span>\r\n        yaw <\/span>=<\/span> euler[<\/span>1<\/span>]<\/span>\r\n        pitch <\/span>=<\/span> euler[<\/span>2<\/span>]<\/span><\/pre>\n
\n\t\u00a0\n<\/p>\n
\n\tPane t\u00e4hele, et siin koodin\u00e4ites on tagasikutsefunktsiooni nimi callback<\/span>. See on toodud lihtsalt n\u00e4itena \u2013 peaksid oma koodis kasutama siiski enda varem loodud tagasikutsefunktsiooni. Siinse koodin\u00e4ite eeskujul v\u00f5id proovida ka oma koodis kvaternioni Euleri nurkadeks teisendada.<\/p>\n","protected":false},"excerpt":{"rendered":"
Nagu varem \u00f5ppisime, siis kimp ar_track_alvar annab meile teada orientatsiooni kvaternionina. Selleks, et seda inimm\u00f5istetaval kujul t\u00f5lgendada, teisendame kvaternioni Euleri nurkadeks. AR m\u00e4rgiste p\u00f5hjal roboti positsiooni hindamine on lihtne, sest positsiooni komponentide (x, y, z) \u00fchikuteks on meetrid. N\u00e4eme positsiooni …<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-33","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/33","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=33"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/33\/revisions"}],"predecessor-version":[{"id":368,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/33\/revisions\/368"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=33"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}