2011/5/22 Kent A. Reed <knbr...@erols.com>: > On 5/21/2011 9:20 PM, Kent A. Reed wrote: >> Viesturs: >> >> If linear joints work for you, then so much the better.
They do work in genserkins, but it seems that I will give up on trying to allign the coordinate axes. I spent so much time on it and in the end it turns out that I got ~90% of the intended result - support for linear joints in genserkins. I did run the default script on a simulated arm and it worked just fine - all the letters looked nice. > 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. >> 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. I did try it in very late yesterday evening and it seemed ok. In a test config with no simulated machine and almost trivial kins for linear joints and 2-stage zyz-->rotation matrix-->rpy and vice versa conversions it behaved good - no crazy values in world mode. Now I will try to get it little more sophisticated. > 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. Ok, error checking aprt would be nice to have, but otherwise it seems that it would be the same as just explicitly telling to do the conversion in 2 steps. 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