Jeff K., Arnaud P.
Filled up the CART2EUL and EUL2CART matrices for OMC.
CART2EUL=
0.8572 0.515 -0.1402 0 -0.538 0.8954
-0.515 0.8572 0.0094 0 -0.8954 -0.538
0 0 0 1 0.125 0.0642
0 0 0 0 0.8572 0.515
0 0 0 0 -0.515 0.8572
0 0 1 0 0 0
EUL2CART=
0.8572 -0.515 0 -0.5379 -0.8954 0.125
0.515 0.8572 0 0.8954 -0.5379 0.0641
0 0 0 0 0 1
0 0 1 -0.1402 0.0093 0
0 0 0 0.8572 -0.515 0
0 0 0 0.515 0.8572 0
The values are saved in the /opt/rtcds/userapps/release/isc/common/projections folder under ISI2SUS_projection_file.mat.
In order to get those matrices we updated the script SEI2SUScoordinates.m with relative coordinates between OMC and the center of the ISI table (from the attached bgchbiai.png and HAM6[...].pdf for x, y, yaw and the solidwork screenshot for z from dcc document D0900295).
x=-64.197mm
y=125.01mm
z=637.08mm
yaw=31 degrees
A new snapshot with safe values has been commited on the svn as well as the ISI2SUSprojection_file.mat file.