eu2phi.cc File Reference

#include "mbconfig.h"
#include <cstring>
#include <stdlib.h>
#include <string>
#include <iostream>
#include "matvec3.h"
#include "matvecexp.h"
#include "Rot.hh"

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Functions
int	main (int argn, const char *const argv[])

Function Documentation

int main	(	int	argn,
		const char *const	argv[]
	)

Definition at line 46 of file eu2phi.cc.

References EulerAngles2MatR(), M_PI, Vec3::Norm(), R, and RotManip::VecRot().

{ 
        bool v = false;
        if (argn > 1) {
                if (!strcasecmp(argv[1], "-?")
                    || !strcasecmp(argv[1], "-h") 
                    || !strcasecmp(argv[1], "--help")) {
                        std::cerr << std::endl 
                                << "usage: " << argv[0] << "[-v]" << std::endl 
                                << std::endl
                                << "    reads the Euler angles (in degs)"
                                " from stdin;" << std::endl
                                << " writes the rotation vector {magniture (in degs), direction} on standard output" 
                                << std::endl
                                << " -v: write the rotation vector (in rads) instead of magnitude, direction"
                                << std::endl
                                << std::endl
                                << "part of MBDyn package (Copyright (C)"
                                " Pierangelo Masarati, 1996-2006)" << std::endl
                                << " Authors: Alessandro Fumagalli" << std::endl
                                << "          Marco Morandini" << std::endl
                                << std::endl;
                        exit(EXIT_SUCCESS);
                } else {
                        if (!strcasecmp(argv[1], "-v")) {
                                v = true;
                        }
                }
        }

        std::cout.precision(16);

        static doublereal d[3];
        while (true) {
                std::cin >> d[0];
                if (std::cin) {
                        std::cin >> d[1] >> d[2];

                        Mat3x3 R(EulerAngles2MatR(Vec3(d)/(180./M_PI)));
                        Vec3 phi(RotManip::VecRot(R));

                        if (v) {
                                std::cout << phi << std::endl;
                        } else {
                                doublereal D = phi.Norm();
                                if (D != 0.) {
                                        std::cout << D*180./M_PI << " " << phi/D << std::endl;
                                } else {
                                        std::cout << 0. << " " << 0. << " " << 0. << " " << 0. << std::endl;
                                }
                        }
                } else {
                        break;
                }
        }
   
        return EXIT_SUCCESS;
}

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