Xavi007: #903 There's an error in the transformation_matrix of Quadro…

…tor renamed "yaw" to "roll" (#906)
AtsushiSakai · Dec 18, 2023 · 313ce19 · 313ce19
1 parent d25fb35
commit 313ce19
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py b/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
@@ -56,7 +56,7 @@ def transformation_matrix(self):
             [[cos(yaw) * cos(pitch), -sin(yaw) * cos(roll) + cos(yaw) * sin(pitch) * sin(roll), sin(yaw) * sin(roll) + cos(yaw) * sin(pitch) * cos(roll), x],
              [sin(yaw) * cos(pitch), cos(yaw) * cos(roll) + sin(yaw) * sin(pitch)
               * sin(roll), -cos(yaw) * sin(roll) + sin(yaw) * sin(pitch) * cos(roll), y],
-             [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(yaw), z]
+             [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(roll), z]
              ])
 
     def plot(self):  # pragma: no cover