fix: data range of euler angles for sensor-independent vehicle frame(#5676) #13494
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…polloAuto#5676) make euler angles's data range symmetric for sensor-independent vehicle frame in gnss driver: from [-3pi/2,pi/2] to [-pi,pi]
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JeffYoung17
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Reference: https://github.com/JeffYoung17/Blog/blob/master/support_files/v2_gnssins_euler_angles.pdf
As mentioned in (#5676 (comment)) by @hillbrook ,the sensor-independent frame in novatel_parser.cc is FLU, and the frame is converted back to RFU in data_parser.cc.
In novatel_parser.cc, the euler angle around z axis equals (90-azimuth)*deg_to_rad, and its range is [-3pi/2, pi/2], although it’s orientation is right, but the code in novatel_parser.cc lacks of a common theoretical derivation, and the range of Euler angle is also not symmetric.
Meanwhile, in
modules/localization/proto/pose.proto, the range of euler angle around z axis is in [-pi, pi), so I think that it is better to unify them.@jilinzhou @fengqikai1414 @xmyqsh @JackFu123