Difference between revisions of "Translating Euler Angles"
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-->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 | ||
Revision as of 06:25, 6 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