eulToTrsf(3)

NAME
eulToTrsf, multTrsfEul, trsfToEul -- RCCL routines for handling Euler angles.

USAGE
#include <robotTypes.h>    /* included as part of <rccl.h> */

TRSF *eulToTrsf (tr, phi, the, psi)
  TRSF *tr;
  float phi, the, psi;

TRSF *multTrsfEul (tr, phi, the, psi)
  TRSF *tr;
  float phi, the, psi;

trsfToEul (phi, the, psi, t1)
  float *phi, *the, *psi;
  TRSF *t1;

ARGUMENTS

tr --
    Result transform.

t1 --
    Input transform.

phi, the, psi --
    Euler angles representing rotation about the z axis, the new y axis, and the new z axis, respectively (in degrees). These arguments are result parameters in the case of trsfToEul().

DESCRIPTION

eulToTrsf() sets the rotational part of the transform "tr" to correspond to a rotation given by the indicated Euler angles.

multTrsfEul() post-multiplies the transform "tr" (in place) by a rotation given by the indicated Euler angles.

Each of the above routines returns a pointer to its result argument.

trsfToEul() returns the Euler angles which correspond to the rotational part of the transform "tr". If the Euler angle representation is not unique, then the value of "phi" is arbitarily set to 0.0.

SEE ALSO
xyzToTrsf(3), multTrsf(3), vaoToTrsf(3), rotToTrsf(3), rpyToTrsf(3).