rotrel.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 rotrel.cc.

References dRaDegr, EulerAngles2MatR(), MatR2EulerAngles(), R, and Mat3x3::Transpose().

{
        flag f(0);
        
        if (argn > 1) {
                if (!strcasecmp(argv[1], "-?")
                    || !strcasecmp(argv[1], "-h") 
                    || !strcasecmp(argv[1], "--help")) {
                        std::cerr << std::endl 
                                << "usage: " << argv[0] 
                                << " [mat|euler]" << std::endl 
                                << std::endl
                                << "    reads the Euler angles (in degs)"
                                " of bodies 1 and 2 from stdin;" << std::endl
                                << "    writes, on standard output:" << std::endl
                                << "        default|\"euler\", the relative"
                                " Euler angles," << std::endl
                                << "        \"mat\", the relative rotation"
                                " matrix (column-oriented)" << std::endl 
                                << std::endl
                                << "part of MBDyn package (Copyright (C)"
                                " Pierangelo Masarati, 1996-2004)" << std::endl 
                                << std::endl;
                        exit(EXIT_SUCCESS);
                } else if (!strcasecmp(argv[1], "mat")) {
                        f = flag(1);
                } else if (!strcasecmp(argv[1], "euler")) {
                        f = flag(0);
                } else {
                        f = flag(0);
                }
        }
   
        static doublereal d[3];
        while (true) {
                std::cin >> d[0];
                if (std::cin) {
                        std::cin >> d[1] >> d[2];
                        Mat3x3 R1(EulerAngles2MatR(Vec3(d)/dRaDegr));
                        std::cin >> d[0] >> d[1] >> d[2];
                        Mat3x3 R2(EulerAngles2MatR(Vec3(d)/dRaDegr));
                        Mat3x3 R(R1.Transpose()*R2);
                        
                        if (f) {
                                std::cout << R << std::endl;
                        } else {
                                std::cout << MatR2EulerAngles(R)*dRaDegr << std::endl;
                        }
                } else {
                        break;
                }
        }
   
        return (EXIT_SUCCESS);
}

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