From: John Jamulla (jdj++at++ComptekAmherst.com)
Date: 01/26/2000 11:59:50
Question:
In the getting started guide for Performer, section on Channels, it says:
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The multiplication order is roll, pitch, then heading.
In the pfChannel Man page, it says "The order of application of these angles
is ROTy(roll) * ROTx(pitch) * ROTz(heading) where ROTa(angle) is a rotation
matrix about world axis a of angle degrees."
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Many applications we are trying to integrate with, as a large system of
computers, all use the "Order of Rotation" as "Heading, then Pitch, Then
roll".
Is the multiplication order given above in the performer doc, the same as
the "Order of Rotation" I hear most of our mathameticians use? Or is the
multiplication order the OPPOSITE of the "Order of Rotation" in definition,
yet gives the same answers in practicality? *scratches head*
If it is NOT, then how would I properly use performer to DISPLAY (as a
visualization tool) the orientation for things (such as planes) as being
calculated in the systems that do Heading, Pitch, Roll for rotation order,
when performer does it the opposite way (I'm guessing based on above)?
Is there a way in performer to change the order or rotation?
Any help or guidance would be appreciated.
John D. Jamulla, Comptek Amherst Systems Inc., Buffalo N.Y. 14221,
jdj++at++Comptekamherst.com, jjamulla++at++concentric.net, j.jamulla++at++ieee.org,
Williamsville, N.Y. 14221
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