Re: eurler angles

A snapshot from   my code....

regards
nutrina


 --- joseoomartin <[email protected]> schrieb: 

---------------------------------
Hi all, can anybody help ?

The euler angles does not work for me...
 
i am using it in this manner :
 
 matrix = gps_get_matrix(gps);
 euler_vector= eulerAngles(matrix);
 phiX =euler_vector[0];
 phiY =euler_vector[1];
 phiZ =euler_vector[2];
 tilt = (float)Math.sqrt(Math.pow(phiX,2) +
Math.pow(phiZ,2));    
 System.out.println("Inclinacion "+tilt+ " Valor X: "+
phiX + " Valor 
Z: "+phiZ);
 
But always including the robot on the floor, Tilt = 0 
, phiX -0 , 
phiZ =0 , ... Why ???
 
Thanks....
Gladiator...




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nutrina.openGLMatrix = Controller.gps_get_matrix(nutrina.gps);
nutrina.argASin = -1D * (double)nutrina.openGLMatrix[9];
nutrina.eul = Controller.gps_euler(nutrina.openGLMatrix);
nutrina.angles[0] = (float)((double)(nutrina.eul[0] * 180F) / 3.1415926535897931D);
nutrina.angles[1] = (float)((double)(nutrina.eul[1] * 180F) / 3.1415926535897931D);
nutrina.angles[2] = (float)((double)(nutrina.eul[2] * 180F) / 3.1415926535897931D);
if(nutrina.angle[2] < -40F || nutrina.angles[2] > 40F)
{
    nutrina.RoboDown = true;
    nutrina.RoboDownOnSide = true;
} else
if(nutrina.angles[0] < -40F || nutrina.angles[0] > 40F)
{
    nutrina.RoboDown = true;
    nutrina.RoboDownBckd = !(nutrina.RoboDownFwd = nutrina.angles[0] > 0.0F);
    if(nutrina.RoboDownFwd)
        System.out.println("robo down forward");
    else
        System.out.println("robo down backward");
} else
{
    nutrina.RoboDown = nutrina.RoboDownFwd = nutrina.RoboDownBckd = false;
}