SMC_UnitVectorToRPY (FB)

FUNCTION_BLOCK SMC_UnitVectorToRPY

This function block will calculate the RPY-angle (referring to the old coordinate system) from the unit vectors of the new coordinate system.

For detailed information of transformation modules see the survey on Coordinate Transformations.

InOut:

Scope	Name	Type	Comment
Input	vX	SMC_Vector3d	x-coordinate of unit vector of new coordinate system (in respect of old coordinate system)
	vY	SMC_Vector3d	y-coordinate of unit vector of new coordinate system (in respect of old coordinate system)
	vZ	SMC_Vector3d	z-coordinate of unit vector of new coordinate system (in respect of old coordinate system)
Output	dA	LREAL	Roll angle in radian measure
	dB	LREAL	Pitch angle in radian measure
	dC	LREAL	Yaw angle in radian measure
	bError	BOOL	Signals, that an error has occurred within the function block
	nError	WORD	Error description: 1: No error (bError = FALSE) 2: Vectors do not have length 1 3: Vectors are not orthogonal 4: No right hand system