posrel.cc File Reference

#include "mbconfig.h"
#include <cstring>
#include <iostream>
#include "matvec3.h"

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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 40 of file posrel.cc.

References EulerAngles2MatR(), M_PI, and Mat3x3::Transpose().

{
   static doublereal d[3];

   while (true) {
      std::cin >> d[0];
      if (std::cin) {
         std::cin >> d[1] >> d[2];
         Vec3 x1(d);
         std::cin >> d[0] >> d[1] >> d[2];
         Mat3x3 R1(EulerAngles2MatR(Vec3(d)/180.*M_PI));
         std::cin >> d[0] >> d[1] >> d[2];
         Vec3 x2(d);

         std::cout << R1.Transpose()*(x2-x1) << std::endl;
      } else {
         break;
      }      
   }   
   
   return (EXIT_SUCCESS);
}

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