Specifying angle ranges for euler angles from Matrix3

Submitted by Peter Milani

Assigned to Nobody

Link to original bugzilla bug (#1715)
Version: 3.2

Description

Created attachment 940
Gtest based source comparing outputs from eigen versus tf2::LinearMath.

bug #947 (closed) Highlighted a problem with the angle ranges output from the Matrix3 ::eulerAngles being [0:pi]x[-pi:pi]x[-pi:pi].

My multiplication order is ZYX for a yaw, pitch, roll, however whilst it seems correct except for the limitation of my yaw to [0:pi] where I would have preferred [-pi:pi]. This has been explained in bug #947 (closed).

I'm just wondering if a fix has be integrated outside of the unsupported libraries. Or indeed if there is a work around for older releases.
I've tried to change the angle order to align with the ranges output, but that produces mostly wrong angles: compared to ros::tf2::LinearMath::Matrix3x3::getRPY.

My test code for ros Kinetic is attached.

Attachment 940, "Gtest based source comparing outputs from eigen versus tf2::LinearMath.":
visionctltest.cc