rotrel.cc

Go to the documentation of this file.

/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/utils/rotrel.cc,v 1.27 2017/01/12 15:10:28 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

#include <cstring>
#include <iostream>

#include "matvec3.h"


int 
main(int argn, const char* const argv[])
{
        flag f(0);
        
        if (argn > 1) {
                if (!strcasecmp(argv[1], "-?")
                    || !strcasecmp(argv[1], "-h") 
                    || !strcasecmp(argv[1], "--help")) {
                        std::cerr << std::endl 
                                << "usage: " << argv[0] 
                                << " [mat|euler]" << std::endl 
                                << std::endl
                                << "    reads the Euler angles (in degs)"
                                " of bodies 1 and 2 from stdin;" << std::endl
                                << "    writes, on standard output:" << std::endl
                                << "        default|\"euler\", the relative"
                                " Euler angles," << std::endl
                                << "        \"mat\", the relative rotation"
                                " matrix (column-oriented)" << std::endl 
                                << std::endl
                                << "part of MBDyn package (Copyright (C)"
                                " Pierangelo Masarati, 1996-2004)" << std::endl 
                                << std::endl;
                        exit(EXIT_SUCCESS);
                } else if (!strcasecmp(argv[1], "mat")) {
                        f = flag(1);
                } else if (!strcasecmp(argv[1], "euler")) {
                        f = flag(0);
                } else {
                        f = flag(0);
                }
        }
   
        static doublereal d[3];
        while (true) {
                std::cin >> d[0];
                if (std::cin) {
                        std::cin >> d[1] >> d[2];
                        Mat3x3 R1(EulerAngles2MatR(Vec3(d)/dRaDegr));
                        std::cin >> d[0] >> d[1] >> d[2];
                        Mat3x3 R2(EulerAngles2MatR(Vec3(d)/dRaDegr));
                        Mat3x3 R(R1.Transpose()*R2);
                        
                        if (f) {
                                std::cout << R << std::endl;
                        } else {
                                std::cout << MatR2EulerAngles(R)*dRaDegr << std::endl;
                        }
                } else {
                        break;
                }
        }
   
        return (EXIT_SUCCESS);
}