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