eu2phi.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/utils/eu2phi.cc,v 1.17 2017/01/12 15:10:27 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
 *
 * This file is copyrighted by:
 *      Alessandro Fumagalli    < alessandro.fumagalli@polimi.it >
 */

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

#include <cstring>
#include <stdlib.h>
#include <string>
#include <iostream>

#include "matvec3.h"
#include "matvecexp.h"
#include "Rot.hh"

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