From: Simon Mills (simon++at++wgs.estec.esa.nl)
Date: 01/07/2000 00:53:01
pylonet++at++yahoo.com wrote:
>
> Hi All,
> I would be very happy if you could help me solve this problem:
>
> I use a robot model from Multigen. I want to ratote the head around its
> neck, but the head rotate around some axis far away the neck, although
> I have set the local coordinate to neck.
>
> Please tell me how to set DCS or other corrdinate system to overcome the
> problem.
A Multigen DOF bead is not directly equivalent to a pfDCS node. It also
has local position information so you can't just set the DCS values
directly as you would the DOF values since your pfDCS rotates around the
global origin. You need to build up a composite matrix of to/from local
position transform with your DOF values. This is explained in more
detail in /usr/share/Performer/src/lib/libpfdb/libpfflt/README.FLT.R15_3
in the Performer 2.2 distribution.
> Thank you!
>
> Pylonet
Regards, Simon
________________________________________________________________________
Simon Mills
Silicon Worlds S.A.
c/o Modelling & Simulation Section (TOS-EMM) Tel: +31 (0)71 565 3725
European Space Agency (ESA/ESTEC) Fax: +31 (0)71 565 5419
Postbus 299, 2200AG Noordwijk e-mail: simon++at++wgs.estec.esa.nl
The Netherlands http://www.estec.esa.nl/wmwww/EMM
________________________________________________________________________
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