rot2phi.cc File Reference

#include "mbconfig.h"
#include <cstring>
#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 40 of file rot2phi.cc.

References M11, M12, M13, M21, M22, M23, M31, M32, M33, M_PI, Vec3::Norm(), and RotManip::VecRot().

{
   if (argn > 1) {
      if (!strcasecmp(argv[1], "-?")
          || !strcasecmp(argv[1], "-h") 
          || !strcasecmp(argv[1], "--help")) {
         std::cerr << std::endl << "usage: " << argv[0] << std::endl << std::endl
           << "    reads a rotation matrix (row-oriented) from stdin;" << std::endl
           << "    writes the rotation vector {magniture (in degs), direction} on standard output" << std::endl << std::endl
           << "part of MBDyn package (Copyright (C) Pierangelo Masarati, 1996)" << std::endl << std::endl;
         exit(EXIT_SUCCESS);
      }
   }   

        std::cout.precision(16);

   static doublereal d[9];
   while (true) {
      std::cin >> d[M11];
      if (std::cin) {
         std::cin >> d[M12] >> d[M13] 
                >> d[M21] >> d[M22] >> d[M23] >> d[M31] >> d[M32] >> d[M33];
         Vec3 phi(RotManip::VecRot(Mat3x3(d, 3)));
         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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