예제 #1
0
void GlobalOptimization::inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quaterniond OdomQ)
{
	mPoseMap.lock();
    vector<double> localPose{OdomP.x(), OdomP.y(), OdomP.z(), 
    					     OdomQ.w(), OdomQ.x(), OdomQ.y(), OdomQ.z()};
    localPoseMap[t] = localPose;


    Eigen::Quaterniond globalQ;
    globalQ = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomQ;
    Eigen::Vector3d globalP = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomP + WGPS_T_WVIO.block<3, 1>(0, 3);
    vector<double> globalPose{globalP.x(), globalP.y(), globalP.z(),
                              globalQ.w(), globalQ.x(), globalQ.y(), globalQ.z()};
    globalPoseMap[t] = globalPose;
    lastP = globalP;
    lastQ = globalQ;

    geometry_msgs::PoseStamped pose_stamped;
    pose_stamped.header.stamp = ros::Time(t);
    pose_stamped.header.frame_id = "world";
    pose_stamped.pose.position.x = lastP.x();
    pose_stamped.pose.position.y = lastP.y();
    pose_stamped.pose.position.z = lastP.z();
    pose_stamped.pose.orientation.x = lastQ.x();
    pose_stamped.pose.orientation.y = lastQ.y();
    pose_stamped.pose.orientation.z = lastQ.z();
    pose_stamped.pose.orientation.w = lastQ.w();
    global_path.header = pose_stamped.header;
    global_path.poses.push_back(pose_stamped);

    mPoseMap.unlock();
}
예제 #2
0
/*!
* \brief affine3d2UrdfPose converts an  Eigen affine 4x4 matrix  o represent the pose into a urdf pose 
* vparam pose   eigen Affine3d pose 
* \return   urdf pose with position and rotation.
*/
RCS::Pose Affine3d2UrdfPose(const  Eigen::Affine3d &pose) {
    RCS::Pose p;
    p.getOrigin().setX(pose.translation().x());
    p.getOrigin().setY(pose.translation().y());
    p.getOrigin().setZ(pose.translation().z());

    Eigen::Quaterniond q (pose.rotation());
    tf::Quaternion qtf(q.x(),q.y(),q.z(),q.w());
    //std::cout <<  "Affine3d2UrdfPose Quaterion = \n" << q.x() << ":" << q.y() << ":" << q.z() << ":" << q.w() << std::endl;

    p.setRotation(qtf);
    //std::cout <<  "After Affine3d2UrdfPose Quaterion = \n" << p.getRotation().x() << ":" << p.getRotation().y() << ":" << p.getRotation().z() << ":" << p.getRotation().w() << std::endl;

#if 0
    MatrixEXd m = pose.rotation();
    Eigen::Quaterniond q = EMatrix2Quaterion(m);

    Eigen::Quaterniond q(pose.rotation());
    p.getRotation().setX(q.x());
    p.getRotation().setY(q.y());
    p.getRotation().setZ(q.z());
    p.getRotation().setW(q.w());
    #endif
   return p;
}
void printQuatAngles(Eigen::Quaterniond& quat)
{
	double heading = atan2(2*quat.y()*quat.w()-2*quat.x()*quat.z(), 1 -2 * quat.y()*quat.y()-2*quat.z()*quat.z());

	double attitude = asin(2*quat.x()*quat.y() + 2 *quat.z()*quat.w());

	double bank = atan2(2*quat.x()*quat.w()- 2 * quat.y()*quat.z(), 1 - 2 *quat.x() * quat.x() -2 * quat.z() * quat.z());

	cout << "heading: " << Angle(heading).deg() << " attitude: " << Angle(attitude).deg() << " bank: " << Angle(bank).deg() << endl;
}
예제 #4
0
Eigen::Matrix3d FeatureModel::dR_by_dqz(const Eigen::Quaterniond &q)
{
  Eigen::Matrix3d M;

  M << -2*q.z(), -2*q.w(), 2*q.x(),
        2*q.w(), -2*q.z(), 2*q.y(),
        2*q.x(), 2*q.y(), 2*q.z();

  return  M;
}
예제 #5
0
Eigen::Quaterniond VizHelperNode::rotateSatelliteFrame(const iri_common_drivers_msgs::SatellitePseudorange &sat, ros::Time time_ros)
{
    Eigen::Quaterniond rotation;

    Eigen::Vector3d satVelocity(sat.v_x * scale, sat.v_y * scale, sat.v_z * scale);

    //quaternione che fa ruotare l'asse x in modo che combaci con il vettore velocita'
    rotation.setFromTwoVectors(Eigen::Vector3d::UnitX(), satVelocity);


    geometry_msgs::Quaternion odom_quat;
    odom_quat.x = rotation.x();
    odom_quat.y = rotation.y();
    odom_quat.z = rotation.z();
    odom_quat.w = rotation.w();


    // Publish the transform over tf
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = time_ros;
    odom_trans.header.frame_id = WORLD_FRAME;				//frame padre
    odom_trans.child_frame_id = getSatelliteFrame(sat.sat_id);	//frame figlio (che sto creando ora)
    odom_trans.transform.translation.x = sat.x * scale;//traslazione dell'origine
    odom_trans.transform.translation.y = sat.y * scale;
    odom_trans.transform.translation.z = sat.z * scale;
    odom_trans.transform.rotation = odom_quat;							//rotazione

    //send the transform
    transBroadcaster.sendTransform(odom_trans);


    return rotation;
}
예제 #6
0
void VizHelperNode::publishOdometry(const iri_common_drivers_msgs::SatellitePseudorange &sat, const Eigen::Quaterniond &rotation, ros::Time time_ros)
{
    /// publish the odometry message over ROS
    nav_msgs::Odometry odom;
    odom.header.stamp = time_ros;
    odom.header.frame_id = WORLD_FRAME;

    //set the position
    odom.pose.pose.position.x = sat.x * scale;
    odom.pose.pose.position.y = sat.y * scale;
    odom.pose.pose.position.z = sat.z * scale;

    //set the orientation
    odom.pose.pose.orientation.x = rotation.x();
    odom.pose.pose.orientation.y = rotation.y();
    odom.pose.pose.orientation.z = rotation.z();
    odom.pose.pose.orientation.w = rotation.w();

    //set the velocity
    odom.child_frame_id = getSatelliteFrame(sat.sat_id);
    odom.twist.twist.linear.x = sat.v_x * scale;
    odom.twist.twist.linear.y = sat.v_y * scale;
    odom.twist.twist.linear.z = sat.v_z * scale;
    odom.twist.twist.angular.x = 0;
    odom.twist.twist.angular.y = 0;
    odom.twist.twist.angular.z = 0;

    //publish the message
    //TODO fare i singoli odom publisher
    // odomPub[index].publish(odom);
    odomAllPub.publish(odom);
}
예제 #7
0
Eigen::Quaterniond pick_positive(const Eigen::Quaterniond& other) {
  if (other.w() < 0) {
    return Eigen::Quaterniond(-other.w(), -other.x(), -other.y(), -other.z());
  } else {
    return other;
  }
}
예제 #8
0
/**
 * @function pose2Affine3d
 */
Eigen::Affine3d DartLoader::pose2Affine3d( urdf::Pose _pose ) {
    Eigen::Quaterniond quat;
    _pose.rotation.getQuaternion(quat.x(), quat.y(), quat.z(), quat.w());
    Eigen::Affine3d transform(quat);
    transform.translation() = Eigen::Vector3d(_pose.position.x, _pose.position.y, _pose.position.z);
    return transform;
}
void App::getRobotState(drc::robot_state_t& robot_state_msg, int64_t utime_in, Eigen::VectorXd q, std::vector<std::string> jointNames){
  robot_state_msg.utime = utime_in;

  // Pelvis Pose:
  robot_state_msg.pose.translation.x =q(0);
  robot_state_msg.pose.translation.y =q(1);
  robot_state_msg.pose.translation.z =q(2);

  Eigen::Quaterniond quat = euler_to_quat( q(3), q(4), q(5));

  robot_state_msg.pose.rotation.w = quat.w();
  robot_state_msg.pose.rotation.x = quat.x();
  robot_state_msg.pose.rotation.y = quat.y();
  robot_state_msg.pose.rotation.z = quat.z();

  robot_state_msg.twist.linear_velocity.x  = 0;
  robot_state_msg.twist.linear_velocity.y  = 0;
  robot_state_msg.twist.linear_velocity.z  = 0;
  robot_state_msg.twist.angular_velocity.x = 0;
  robot_state_msg.twist.angular_velocity.y = 0;
  robot_state_msg.twist.angular_velocity.z = 0;

  // Joint States:
  for (size_t i = 0; i < jointNames.size(); i++)  {
    robot_state_msg.joint_name.push_back( jointNames[i] );
    robot_state_msg.joint_position.push_back( q(i) );
    robot_state_msg.joint_velocity.push_back( 0);
    robot_state_msg.joint_effort.push_back( 0 );
  }
  robot_state_msg.num_joints = robot_state_msg.joint_position.size();
}
bool constraint_samplers::IKConstraintSampler::sample(planning_models::KinematicState::JointStateGroup *jsg, const planning_models::KinematicState &ks, unsigned int max_attempts)
{
  // make sure we at least have a chance of sampling using IK; we need at least some kind of constraint
  if (!sampling_pose_.position_constraint_ && !sampling_pose_.orientation_constraint_)
    return false;

  // load an IK solver if we need to 
  if (!loadIKSolver())
  {
    kb_.reset();
    return false;
  }

  for (unsigned int a = 0 ; a < max_attempts ; ++a)
  {
    // sample a point in the constraint region
    Eigen::Vector3d point;    
    Eigen::Quaterniond quat;
    if (!samplePose(point, quat, ks, max_attempts))
      return false;

    geometry_msgs::Pose ik_query;
    ik_query.position.x = point.x();
    ik_query.position.y = point.y();
    ik_query.position.z = point.z();
    ik_query.orientation.x = quat.x();
    ik_query.orientation.y = quat.y();
    ik_query.orientation.z = quat.z();
    ik_query.orientation.w = quat.w();        
    
    if (callIK(ik_query, ik_timeout_, jsg))
      return true; 
  }
  return false;
}
void quaternionEigenToMsg(const Eigen::Quaterniond &e, geometry_msgs::Quaternion &m)
{
    m.x = e.x();
    m.y = e.y();
    m.z = e.z();
    m.w = e.w();
}
예제 #12
0
bool RosMessageContext::getOdomPose(Eigen::Isometry3d& _trans, double time){
  bool transformFound = true;
  _tfListener->waitForTransform(_odomReferenceFrameId, _baseReferenceFrameId,
				ros::Time(time), ros::Duration(1.0));
  try{
    tf::StampedTransform t;
    _tfListener->lookupTransform(_odomReferenceFrameId, _baseReferenceFrameId,
				 ros::Time(time), t);
    Eigen::Isometry3d transform;
    transform.translation().x()=t.getOrigin().x();
    transform.translation().y()=t.getOrigin().y();
    transform.translation().z()=t.getOrigin().z();
    Eigen::Quaterniond rot;
    rot.x()=t.getRotation().x();
    rot.y()=t.getRotation().y();
    rot.z()=t.getRotation().z();
    rot.w()=t.getRotation().w();
    transform.linear()=rot.toRotationMatrix();
    _trans = transform;
    transformFound = true;
  }
  catch (tf::TransformException ex){
    ROS_ERROR("%s",ex.what());
    transformFound = false;
  }
  return transformFound;
}
예제 #13
0
geometry_msgs::Pose PoseAffineToGeomMsg(const Eigen::Affine3d &e) {
    geometry_msgs::Pose m;
    m.position.x = e.translation().x();
    m.position.y = e.translation().y();
    m.position.z = e.translation().z();
    // This is a column major vs row major matrice faux pas!
#if 0
    MatrixEXd em = e.rotation();

    Eigen::Quaterniond q = EMatrix2Quaterion(em);
#endif
    Eigen::Quaterniond q(e.rotation());
    m.orientation.x = q.x();
    m.orientation.y = q.y();
    m.orientation.z = q.z();
    m.orientation.w = q.w();
#if 0
    if (m.orientation.w < 0) {
        m.orientation.x *= -1;
        m.orientation.y *= -1;
        m.orientation.z *= -1;
        m.orientation.w *= -1;
    }
#endif
}
예제 #14
0
 void quaternionEigenToTF(const Eigen::Quaterniond& e, tf::Quaternion& t)
 {
   t[0] = e.x();
   t[1] = e.y();
   t[2] = e.z();
   t[3] = e.w();
 }
예제 #15
0
void RigidBody::set_attitude(Eigen::Quaterniond _attitude)
{
	attitude.w() = _attitude.w(); 
	attitude.x() = _attitude.x(); 
	attitude.y() = _attitude.y(); 
	attitude.z() = _attitude.z(); 
}
예제 #16
0
/**
 * @function pose2Affine3d
 */
Eigen::Isometry3d DartLoader::toEigen(const urdf::Pose& _pose) {
    Eigen::Quaterniond quat;
    _pose.rotation.getQuaternion(quat.x(), quat.y(), quat.z(), quat.w());
    Eigen::Isometry3d transform(quat);
    transform.translation() = Eigen::Vector3d(_pose.position.x, _pose.position.y, _pose.position.z);
    return transform;
}
예제 #17
0
static void subject_publish_callback(const ViconDriver::Subject &subject)
{
  static std::set<std::string> defined_msgs;

  std::string msgname = "vicon_" + subject.name;
  if(defined_msgs.find(msgname) == defined_msgs.end())
  {
    if(pthread_mutex_trylock(&ipc_mutex) == 0)
    {
      IPC_defineMsg(msgname.c_str(), IPC_VARIABLE_LENGTH, ViconSubject::getIPCFormat());
      pthread_mutex_unlock(&ipc_mutex);
      defined_msgs.insert(msgname);
    }
    else
      return;
  }

  if(loadCalib(subject.name))
  {
    Eigen::Affine3d current_pose = Eigen::Affine3d::Identity();
    current_pose.translate(Eigen::Vector3d(subject.translation));
    current_pose.rotate(Eigen::Quaterniond(subject.rotation));
    current_pose = current_pose*calib_pose[subject.name];
    const Eigen::Vector3d position(current_pose.translation());
    const Eigen::Quaterniond rotation(current_pose.rotation());

    ViconSubject subject_ipc;
    subject_ipc.time_sec = subject.time_usec/1000000; // Integer division
    subject_ipc.time_usec = subject.time_usec - subject_ipc.time_sec*1000000;
    subject_ipc.frame_number = subject.frame_number;
    subject_ipc.name = const_cast<char*>(subject.name.c_str());
    subject_ipc.occluded = subject.occluded;
    subject_ipc.position[0] = position.x();
    subject_ipc.position[1] = position.y();
    subject_ipc.position[2] = position.z();
    subject_ipc.orientation[0] = rotation.x();
    subject_ipc.orientation[1] = rotation.y();
    subject_ipc.orientation[2] = rotation.z();
    subject_ipc.orientation[3] = rotation.w();
    subject_ipc.num_markers = subject.markers.size();
    subject_ipc.markers = new ViconMarker[subject_ipc.num_markers];
    for(int i = 0; i < subject_ipc.num_markers; i++)
    {
      subject_ipc.markers[i].name =
          const_cast<char*>(subject.markers[i].name.c_str());
      subject_ipc.markers[i].subject_name =
          const_cast<char*>(subject.markers[i].subject_name.c_str());
      subject_ipc.markers[i].position[0] = subject.markers[i].translation[0];
      subject_ipc.markers[i].position[1] = subject.markers[i].translation[1];
      subject_ipc.markers[i].position[2] = subject.markers[i].translation[2];
      subject_ipc.markers[i].occluded = subject.markers[i].occluded;
    }
    if(pthread_mutex_trylock(&ipc_mutex) == 0)
    {
      IPC_publishData(msgname.c_str(), &subject_ipc);
      pthread_mutex_unlock(&ipc_mutex);
    }
    delete[] subject_ipc.markers;
  }
}
geometry_msgs::PoseStamped MutualPoseEstimation::generatePoseMessage(const Eigen::Vector3d &position, Eigen::Matrix3d rotation){

    geometry_msgs::PoseStamped estimated_position;
    estimated_position.header.frame_id = "ardrone_base_frontcam";//ardrone_base_link

    //estimated_position.pose.position.x = position[2] + 0.21; // z
    //estimated_position.pose.position.y = -position[0];  // x
    //estimated_position.pose.position.z = -position[1]; //-y
    estimated_position.pose.position.x = position[0] + 0.21;
    estimated_position.pose.position.y = position[1];
    estimated_position.pose.position.z = position[2];

    /*rotation = Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitZ())
               * rotation;*/

    Eigen::Quaterniond q = Eigen::Quaterniond(rotation);
//    estimated_position.pose.orientation.x = q.z();
//    estimated_position.pose.orientation.y = -q.x();
//    estimated_position.pose.orientation.z = -q.y();
//    estimated_position.pose.orientation.w = q.w();
    estimated_position.pose.orientation.x = q.x();
    estimated_position.pose.orientation.y = q.y();
    estimated_position.pose.orientation.z = q.z();
    estimated_position.pose.orientation.w = q.w();
    return estimated_position;
}
예제 #19
0
void RectangleHandler::initRectangle(const Eigen::VectorXd& Sw, double lambda,
		const Eigen::VectorXd& z, Eigen::VectorXd& shapeParams,
		Eigen::VectorXd& F) {

	//Get the points
	Eigen::Vector3d m1(z[0], z[1], 1);
	Eigen::Vector3d m2(z[2], z[3], 1);
	Eigen::Vector3d m3(z[4], z[5], 1);
	Eigen::Vector3d m4(z[6], z[7], 1);

	Eigen::Vector3d Ct(Sw[0], Sw[1], Sw[2]);
	Eigen::Quaterniond Cq(Sw[3], Sw[4], Sw[5], Sw[6]);

	//compute normals
	double c2 = (m1.cross(m3).transpose() * m4)[0]
			/ (m2.cross(m3).transpose() * m4)[0];
	double c3 = (m1.cross(m3).transpose() * m2)[0]
			/ (m4.cross(m3).transpose() * m2)[0];

	Eigen::Vector3d n2 = c2 * m2 - m1;
	Eigen::Vector3d n3 = c3 * m4 - m1;

	//Compute rotation matrix columns
	Eigen::Vector3d R1 = _K.inverse() * n2;
	R1 = R1 / R1.norm();

	Eigen::Vector3d R2 = _K.inverse() * n3;
	R2 = R2 / R2.norm();

	Eigen::Vector3d R3 = R1.cross(R2);

	//Compute frame quaternion
	Eigen::Matrix3d R;
	R << R1, R2, R3;

	const Eigen::Quaterniond qOC(R);

	Eigen::Quaterniond Fqhat = Cq * qOC;

	//Compute frame transaltion
	Eigen::Matrix3d omega = _K.transpose().inverse() * _K.inverse();
	double ff = sqrt(
			(n2.transpose() * omega * n2)[0] / (n3.transpose() * omega * n3)[0]);

	Eigen::Vector3d CtOhat = lambda * _K.inverse() * m1;
	Eigen::Vector3d Fthat = Ct + Cq.toRotationMatrix() * CtOhat;

	//compute shape parameters
	Eigen::Vector3d X = _K * R1;
	Eigen::Vector3d Y = c2 * lambda * m2 - lambda * m1;

	double w = ((X.transpose() * X).inverse() * X.transpose() * Y)[0];
	double h = w / ff;

	//Write the results
	shapeParams << w, h;
	F << Fthat[0], Fthat[1], Fthat[2], Fqhat.w(), Fqhat.x(), Fqhat.y(), Fqhat.z();

}
예제 #20
0
Eigen::Quaterniond getOrientation(geometry_msgs::TransformStampedConstPtr tf){
  Eigen::Quaterniond orientation;
  orientation.w() = tf->transform.rotation.w;
  orientation.x() = tf->transform.rotation.x;
  orientation.y() = tf->transform.rotation.y;
  orientation.z() = tf->transform.rotation.z;
  return orientation;
}
예제 #21
0
Eigen::Quaterniond getOrientation(geometry_msgs::PoseWithCovarianceStampedConstPtr ps){
  Eigen::Quaterniond orientation;
  orientation.w() = ps->pose.pose.orientation.w;
  orientation.x() = ps->pose.pose.orientation.x;
  orientation.y() = ps->pose.pose.orientation.y;
  orientation.z() = ps->pose.pose.orientation.z;
  return orientation;
}
예제 #22
0
Eigen::Isometry3d KDLToEigen(KDL::Frame tf){
  Eigen::Isometry3d tf_out;
  tf_out.setIdentity();
  tf_out.translation()  << tf.p[0], tf.p[1], tf.p[2];
  Eigen::Quaterniond q;
  tf.M.GetQuaternion( q.x() , q.y(), q.z(), q.w());
  tf_out.rotate(q);    
  return tf_out;
}
예제 #23
0
YAML::Node SetOrientationYaml( const Eigen::Quaterniond& quat )
{	
	YAML::Node node;
	node["qw"] = quat.w();
	node["qx"] = quat.x();
	node["qy"] = quat.y();
	node["qz"] = quat.z();
	return node;
}
예제 #24
0
void quat_to_euler(Eigen::Quaterniond q, double& roll, double& pitch, double& yaw) {
  const double q0 = q.w();
  const double q1 = q.x();
  const double q2 = q.y();
  const double q3 = q.z();
  roll = atan2(2*(q0*q1+q2*q3), 1-2*(q1*q1+q2*q2));
  pitch = asin(2*(q0*q2-q3*q1));
  yaw = atan2(2*(q0*q3+q1*q2), 1-2*(q2*q2+q3*q3));
}
예제 #25
0
void scale_quaternion(double r,Eigen::Quaterniond q,Eigen::Quaterniond &q_out){
  if (q.w() ==1){
    // BUG: 15dec2011
    // TODO: check if this is a rigerous solution
    // q.w() ==1 mean no translation. so just return the input
    // if q.w()==1 and r=0.5 ... what is created below will have w=0 ... invalid
    //std::cout << "unit quaternion input:\n";
    q_out = q;
    return;
  }
  double theta = acos(q.w());
  //double sin_theta_inv = 1/ sin(theta);
  q_out.w() = sin((1-r)*theta)  + sin(r*theta) * q.w();
  q_out.x() = sin(r*theta) * q.x();
  q_out.y() = sin(r*theta) * q.y();
  q_out.z() = sin(r*theta) * q.z();
  q_out.normalize();
}
void UpperBodyPlanner::msgPose2Eigen(const geometry_msgs::Pose& input, Eigen::Vector3d& translation, Eigen::Quaterniond& q) {
    translation(0) = input.position.x;
    translation(1) = input.position.y;
    translation(2) = input.position.z;
    q.w() = input.orientation.w;
    q.x() = input.orientation.x;
    q.y() = input.orientation.y;
    q.z() = input.orientation.z;
}
예제 #27
0
void quaternionKDLToEigen(const KDL::Rotation &k, Eigen::Quaterniond &e)
{
  // // is it faster to do this?
  k.GetQuaternion(e.x(), e.y(), e.z(), e.w());
  
  // or this?
  //double x, y, z, w;
  //k.GetQuaternion(x, y, z, w);
  //e = Eigen::Quaterniond(w, x, y, z);
}
void UpperBodyPlanner::msgPose2Eigen(const geometry_msgs::Pose& input, Eigen::Vector3d& translation, Eigen::Matrix3d& rotation) {
    translation(0) = input.position.x;
    translation(1) = input.position.y;
    translation(2) = input.position.z;
    Eigen::Quaterniond convert;
    convert.w() = input.orientation.w;
    convert.x() = input.orientation.x;
    convert.y() = input.orientation.y;
    convert.z() = input.orientation.z;
    rotation = convert.toRotationMatrix();
}
예제 #29
0
void updateVizMarker(int id, Eigen::Vector3d _pose, Eigen::Quaterniond _attitude)
{
	marker[id].pose.position.x = _pose(0);
	marker[id].pose.position.y = _pose(1);
	marker[id].pose.position.z = _pose(2);
	marker[id].pose.orientation.x = _attitude.x();
	marker[id].pose.orientation.y = _attitude.y();
	marker[id].pose.orientation.z = _attitude.z();
	marker[id].pose.orientation.w = _attitude.w();
	pub_body[id].publish( marker[id] );
}
예제 #30
0
double quaternion_get_yaw(const Eigen::Quaterniond &q)
{
	// to match equation from:
	// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
	const double &q0 = q.w();
	const double &q1 = q.x();
	const double &q2 = q.y();
	const double &q3 = q.z();

	return std::atan2(2. * (q0*q3 + q1*q2), 1. - 2. * (q2*q2 + q3*q3));
}