Difference between revisions of "Translating Euler Angles"

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(PROTO.PRO)
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First of all you need to add the following lines into proto.pro file:
 
First of all you need to add the following lines into proto.pro file:
  
import_c RBT_XYZ2ZYZ(byval xyz as location of xyzypr, byval zyz as location of xyzypr) as long<br>
+
import_c RBT_XYZ2ZYZ(byval as generic location, as generic location) as long<br>
import_c RBT_ZYZ2XYZ(byval zyz as location of xyzypr,byval xyz as location of xyzypr) as long<br>
+
import_c RBT_ZYZ2XYZ(byval as generic location, as generic location) as long<br>
  
 
==Usage==
 
==Usage==
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<pre>
 
<pre>
 +
-->loadGlobal Frames.lib
 
-->Common shared pXYZ as location of XYZABC = #{0,0,0,10,20,30}
 
-->Common shared pXYZ as location of XYZABC = #{0,0,0,10,20,30}
 
-->Common shared pZYZ as location of XYZYPR
 
-->Common shared pZYZ as location of XYZYPR
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-->?pZYZ
 
-->?pZYZ
 
</pre>
 
</pre>
 +
= See Also =
 +
 +
Source code example: [[File:FRAMES.ZIP | FRAMES.LIB]]

Latest revision as of 08:08, 7 June 2016

Translating Euler Angles

Default system representation of Yaw-Pitch-Roll as a sequence of ZYZ can be transformed into XYZ sequence back and forth using the following built-in functions:


function RBT_XYZ2ZYZ(byval xyz as location of xyzypr, byval zyz as location of xyzypr) as long
function RBT_ZYZ2XYZ(byval zyz as location of xyzypr,byval xyz as location of xyzypr) as long


PROTO.PRO

First of all you need to add the following lines into proto.pro file:

import_c RBT_XYZ2ZYZ(byval as generic location, as generic location) as long
import_c RBT_ZYZ2XYZ(byval as generic location, as generic location) as long

Usage

after issuing reset all you should be able to convert the angels:


-->loadGlobal Frames.lib
-->Common shared pXYZ as location of XYZABC = #{0,0,0,10,20,30}
-->Common shared pZYZ as location of XYZYPR

-->?XYZ2ZYZ(pXYZ,pZYZ)
-->?pZYZ

See Also

Source code example: File:FRAMES.ZIP