2011/5/21 Kent A. Reed <knbr...@erols.com>: > > True, true. But I note that the functions like pmQuatZyzConvert are > marked "FIXME - - need direct equations"". In mathematics, the two > approaches (one conversion or two concatenated conversions) are > equivalent. In computer math, not so much. It may make no practical > difference for Viesturs' application but I like the direct approach.
Yohoooo!!! I have made some progress in genserkins with linear joints: The travel distance on linear joint matches in both joint and teleop mode! Now the only remaining problem is to allign XYZ of the arm with XYZ of the base. Now only Z matches. It _should_ be easy with alpha and theta angles of DH parameters, but it is not... At least for me. But I hope that I will fix it and then those zyz<-->rpy conversions will not be necessary. Viesturs ------------------------------------------------------------------------------ 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
