Merge pull request #496 from joullsson/master

Matrix order in definition of Euler Angles #495

Author: Stefan Cyliax

osi_common.proto

@@ -143,25 +143,23 @@ message Dimension3d
 // Units are rad for orientation, rad/s for rates, and rad/s^2 for
 // accelerations
 //
-// The preferred angular range is [-pi, pi]. The coordinate system is defined as
-// right-handed.
+// The coordinate system is defined as right-handed.
 // For the sense of each rotation, the right-hand rule applies.
 //
 // The rotations are to be performed \b yaw \b first (around the z-axis),
 // \b pitch \b second (around the new y-axis) and \b roll \b third (around the
 // new x-axis) to follow the definition according to [1] (Tait-Bryan / Euler
-// convention z-y'-x'').
+// convention z-y'-x''). The preferred angular range is [-pi, pi] for roll 
+// and yaw and [-pi/2, pi/2] for pitch. 
 //
 // Roll/Pitch are 0 if the objects xy-plane is parallel to its parent's
 // xy-plane. Yaw is 0 if the object's local x-axis is parallel to its parent's
 // x-axis.
 //
 // \f$ Rotation_{yaw,pitch,roll} =
-// Rotation_{roll}*Rotation_{pitch}*Rotation_{yaw} \f$
+// Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll} \f$
 //
-// \f$ vector_{\text{global coord system}} :=
-// Rotation_{yaw,pitch,roll}^{-1}( \f$ \c Orientation3d \f$
-// )*vector_{\text{local coord system}} + local_{origin}\text{::position} \f$
+// \f$ vector_{gobal coord system} := Rotation_{yaw, pitch, roll} * vector_{local coord system} +local_{origin::position} \f$
 //
 // \attention This definition changed in OSI version 3.0.0. Previous OSI
 // versions  (V2.xx) had an other definition.