chvmp / pychamp

A question about the following lines:

Lines 103 to 105 in a15bc5c

    
           req_pose.orientation.roll = roll_gen.sine() 
        
           req_pose.orientation.pitch = pitch_gen.sine() 
        
           req_pose.orientation.yaw = yaw_gen.sine()

What exactly is passed to roll/pitch/yaw by sine()? An angle in radians or maybe an angular velocity? For example: what do I have to pass to req_pose.orientation.pitch to make the robot tilt 15° backwards?

I have already figured it out. You need an interpolation function over time. Actually quite logical

Hey, the unit's in radians and you can use it to set the robot's absolute pose reference to the imu frame

	req_pose.orientation.roll = roll_gen.sine()
	req_pose.orientation.pitch = pitch_gen.sine()
	req_pose.orientation.yaw = yaw_gen.sine()

Unit of roll/pitch/yaw