2011/5/13 Andrew <[email protected]>: > > If I had a draft of what you want to get - kinematics, angles, joints etc, > I'd try to figure it out. > I know matrices, coordinate transformations etc.
Wow, thanks!!! I will try to describe it all in a reasonable way and send You within a few days. 2011/5/13 andy pugh <[email protected]>: > > Was that a different issue to the spurious conversion of linear units > from degrees to radians inside genserkins? > No it is the same thing, I remember that You pointed it out, when I brought this up in the thread, where I described my findings. I looked at that thread a minute ago and found that already that time I indicated - line 444 in genserkins converts in one direction, but line 521 converts them back, so it _should_ be the same. What is the best syntax to add the condition that the convertion is done, only for angular joints, e.g. if TYPE(t) == 1 ? 428 /* jest[] is a copy of joints[], which is the joint estimate */ 429 for (link = 0; link < genser->link_num; link++) { 430 // jest, and the rest of joint related calcs are in radians 431 jest[link] = joints[link] * (PM_PI / 180); Should it be something like this? 428 /* jest[] is a copy of joints[], which is the joint estimate */ 429 for (link = 0; link < genser->link_num; link++) { 430 // for angular joints jest, and the rest of joint related calcs are in radians 431 if(TYPE(t) == 1) { 432 jest[link] = joints[link] * (PM_PI / 180); 433 } else { 434 // do not convert linear joints 435 jest[link] = joints[link] 436 } 437 } Then converting back would look like this: 504 if (smalls == genser->link_num) { 505 /* converged, copy jest[] out */ 506 for (link = 0; link < genser->link_num; link++) { 507 // convert angular joints from radians back to angles 508 if(TYPE(t) == 1) { 508 joints[link] = jest[link] * 180 / PM_PI; 509 } 510 } Is that correct? Or should it be TYPE(link) instead of TYPE(t)? > I think they stand for homogeneous rotation matrix and homogeneous > translation matrix. > http://en.wikipedia.org/wiki/Transformation_matrix Ok, thanks for the links, I will do some reading :) Viesturs ------------------------------------------------------------------------------ Achieve unprecedented app performance and reliability What every C/C++ and Fortran developer should know. Learn how Intel has extended the reach of its next-generation tools to help boost performance applications - inlcuding clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
