Difference between revisions of "Translating Euler Angles"
(Created page with "= 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 bui...") |
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function RBT_ZYZ2XYZ(byval zyz as location of xyzypr,byval xyz as location of xyzypr) as long<br> | function RBT_ZYZ2XYZ(byval zyz as location of xyzypr,byval xyz as location of xyzypr) as long<br> | ||
| + | |||
| + | ==Usage== | ||
after issuing reset all you should be able to convert the angels: | after issuing reset all you should be able to convert the angels: | ||
| + | |||
| + | |||
| + | <pre> | ||
| + | -->Common shared pXYZ as location of XYZABC = #{0,0,0,10,20,30} | ||
| + | -->Common shared pZYZ as location of XYZYPR | ||
| + | |||
| + | -->?XYZ2ZYZ(pXYZ,pZYZ) | ||
| + | -->?pZYZ | ||
| + | </pre> | ||
Revision as of 12:39, 23 December 2015
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:
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
Usage
after issuing reset all you should be able to convert the angels:
-->Common shared pXYZ as location of XYZABC = #{0,0,0,10,20,30}
-->Common shared pZYZ as location of XYZYPR
-->?XYZ2ZYZ(pXYZ,pZYZ)
-->?pZYZ