On Mon, Oct 26, 2015 at 10:40:54AM +0800, reise tiet wrote: > Thanks Jeff, > > (1)Refering to the book of "Introduction to robotics Mechanics and > Control", I can conclude that the RPY are not a type of the Euler Angles, > is this right ? > > Because the "Current" RPY's value is a state of rotation coming from the > "Last" relatively fixed RPY's value, > > Differently, the Euler Angles of "Current" time is from the "Last" time > which is not fixed, for example , for the "ZYZ" Euler Angle, the second > rotation by "Y" is refering to the state after the first rotation of the > "Z". > > Is the above description right?
I don't know; I offered you a guess based on 30 seconds look at the code. It could well be a wrong impression. I suggest that you look in the implementation of go_rpy_quat_convert (and from there to go_rpy_mat_convert and go_mat_quat_convert) to learn what the interpretation of its input and output values are. Since the genserkins and gomath code have essentially no documentation, please read the code and understand what it does. Documentation improvements, such as a manpage on gomath or an asciidoc chapter on genserkins, would be welcome. I will be happy to review any such submissions. And of course since you have the source code you can also change the way genserkins handles the input ABC values so that it meets your requirements. Jeff ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
