On 5/21/2011 9:20 PM, Kent A. Reed wrote: > Viesturs: > > If linear joints work for you, then so much the better. > > Just in case you end up needing or just want to try the zyz<-->rpy > conversions, you can take the two-step approach that Andrew suggested. > > In your forward and inverse routines, you will need to define a scratch > rotation matrix to hold an intermediate result and replace the single > calls to posemath routines with two, back-to-back calls. I took the > liberty of replacing the constants (180/PM_PI) and (PM_PI/180) with > their equivalent definitions in posemath. > > ---snip--- > > int kinematicsForward(const double * joint, > <blah, blah, blah> > return (0); > } > > ---snip--- > > > I did this quickly and didn't attempt to compile and link, so check my > work carefully, especially any use of pointers---they are always my > nemesis using C! > > This solution has several appealing characteristics. > > 1) you can implement it right now, without any changes to posemath. > 2) I can focus on the direct functions without concern that I'm standing > in the way. > > Good luck with whichever approach you take... > > Regards, > Kent Viesturs:
This morning, I looked back at the EMC2 source code and noted that in the PoseMath subdir, there is also the set of gomath files by Alex Joni. He has already defined zyz<-->rpy conversion routines that implement the two-step process. He also was careful to include error checking. This would be yet another route to go /Mutatis Mutandi /(a lovely Latin phrase I learned in a math course, which roughly means "with all necessary changes having been made" :-) ) Regards, Kent ------------------------------------------------------------------------------ What Every C/C++ and Fortran developer Should Know! Read this article and learn how Intel has extended the reach of its next-generation tools to help Windows* and Linux* C/C++ and Fortran developers boost performance applications - including clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
