Daniel Delgado (renata++at++eos.arc.nasa.gov)
Thu, 1 Aug 1996 13:03:07 -0700
Hi all ...
How does one convert a point in a DCS coordinate system to the original coordinate
system after translating and rotating the DCS one?
What I mean is that I did this with a DCS
/* update vehicle DCS */
pfDCSRot(vehicle[0].dcs,
vehicle[0].hpr[PF_H],
vehicle[0].hpr[PF_P],
vehicle[0].hpr[PF_R]);
pfDCSTrans(vehicle[k].dcs,
vehicle[0].xyz[PF_X],
vehicle[0].xyz[PF_Y],
vehicle[0].hpr[PF_Z]);
Now I have a point that is in the original Performer Coordinate system (vehicle[1].xyz)
and I want to find out what its value is in the rotated and translated DCS system.
I think I know just enough to screw up! In other words, the approach below is
Wrong wrong wrong....
pfGetDCSMat(vehicle[0].dcs,Matrix1);
pfXformPt3(IntrusionVect, vehicle[1].xyz, Matrix1);
xnew = IntrusionVect[PF_X] + (vehicle[1].xyz[PF_X] - vehicle[0].xyz[PF_X]);
ynew = IntrusionVect[PF_Y] + (vehicle[1].xyz[PF_Y] - vehicle[0].xyz[PF_Y]);
znew = IntrusionVect[PF_Z] + (vehicle[1].xyz[PF_Z] - vehicle[0].xyz[PF_Z]);
xnew and ynew and znew are way off!
Any advice? What am I doing wrong? Any
help would be much appreciated!
Daniel Delgado
delgado++at++elmo.arc.nasa.gov
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