Question about the heading/yaw angle convention in the output results

[seelzy]

Hello author,

I would like to ask how the heading angle in the output results is defined in the code. Based on the following code:

Eigen::Vector3d ypr(3);
double y = atan2(n(1), n(0));

my understanding is that East is defined as 0 degrees, the counterclockwise direction is positive, and the angle range is from -180 to 180 degrees.

Is my understanding correct?