Re: eurler angles

Hi,

I think you did forgot to initialize the gps matrix.

On webost you need to initialize (swich on) every
device what you use.

You need to put an initialization code somewhere
before your infinite loop.

  gps_enable(gps,32);

in case of the gps martix.

public static void main() {
  ...
  gps_enable(gps,32);
  ...
  
  for(;;)
    { // The robot never dies!
      .....
      matrix=gps_get_matrix(gps); // OpenGL 4x4 matrix
      eul = gps_euler(matrix);
      szog[0] = (int) (eul[0]*180/Math.PI);
      szog[1] = (int) (eul[1]*180/Math.PI);
      szog[2] = (int) (eul[2]*180/Math.PI);
      .... // I use the angels in grades not radians
    }
}

Regards,
RoboMarci,  Márton Lászó

--- Gerald Iakobinyi Pich <[email protected]> wrote:

> 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;
> }
> 



		
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