About jacobrejin

I have a IMU attached to the foot and another attached to the tibia. I want to measure individual angles about each axis(X,Y and Z) between those two sensors(using quaternion output). I have done the necessary axis remap to account for the orientation changes. The problem is that both IMU's have an initial offset values beacue of the uneven suface of the body. And the axis of the IMU is alligned with the body bones as reference and not with each other so I cannot directly take the difference in euler angles ... View more

I needed a detiled explanation on the data output given by BNO055.  I was retriving euler angles from the BNO055 which I assumed to be in XYZ extrinsic(ie zyx[yaw,pitch,roll] intrinsic). But it does not seem to match with a software that I use. The software I use, uses right handed curl rule(i.e anti-clockwise rotation as positive) and it seems BNO055 uses left handed curl rule(i.e clockwise rotation as positive) I am trying to decompose the matrix to retrive Intrinsic rotations from the angles given. So knowing the Actual sequence of Extrinsic rotation is crucial. So it will be helpful it is mentioned. Also the the BNO055 gives euler values in the Heading, roll and pitch values But the pitch values given by BNO055 is about X axis which when compared to standard yaw pitch roll matches with the Y axis hence decomposing the Euler angles doesnot work properly. can you please mention the proper euler angle extrinsic sequence given by BNO055 ? I know its good to use Quaternion output when using for big angles I tried using it as well and comparing with the angles given by the software which uses Right handed curl rule and the signs of the quaternion output by BNO055 differ (although values are the same) So it seems that the BNO055 uses left handed curl rule(i.e clockwise positive) OR I am getting it wrong all together. I need a reliable method to convert quaternion to a rotational matrix(extrinsic most probably) and then decompose to find the intrinsic rotation or directly convert to Intrinsic angles from the matrix. But the problem is with the sequence and the sign(clcokwise or anti-clockwise rotation). I am refering wikipedia for most of the data https://en.wikipedia.org/wiki/Euler_angles  https://en.wikipedia.org/wiki/Rotation_matrix  ... View more