Translating Euler Angles

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 xyz as location of xyzypr, byval zyz as location of xyzypr) as long
import_c 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