Anke Post / Mbed 2 deprecated RKI

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Dependencies:   mbed FXOS8700Q

main.cpp@2:30749226b8bd, 2019-10-31 (annotated)

Committer:
AnkePost
Date:
Thu Oct 31 11:32:32 2019 +0000
Revision:
2:30749226b8bd
Parent:
1:b832c2220d45
Child:
3:fabcf1a61336
RKI goede matrix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AnkePost 2:30749226b8bd 1 Joint_velocity[0][0] = (vx*(cos(q1+3.141592653589793/6.0)*-8.5E2-sin(q1)*4.25E2+cos(q1)*cos(q2)*2.25E2+cos(q1)*sin(q2)*6.77E2+cos(q2)*sin(q1)*6.77E2-sin(q1)*sin(q2)*2.25E2+sqrt(3.0)*cos(q1)*4.25E2-sqrt(3.0)*cos(q1)*cos(q2)*4.25E2+sqrt(3.0)*sin(q1)*sin(q2)*4.25E2)*(4.0E1/1.7E1))/(cos(q1)*cos(q1+3.141592653589793/6.0)*4.25E2+sin(q1)*sin(q1+3.141592653589793/6.0)*4.25E2-cos(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*6.77E2-cos(q2)*sin(q1)*sin(q1+3.141592653589793/6.0)*6.77E2+cos(q1+3.141592653589793/6.0)*sin(q1)*sin(q2)*6.77E2+sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*2.25E2-sqrt(3.0)*cos(q1)*sin(q1+3.141592653589793/6.0)*4.25E2+sqrt(3.0)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-cos(q1)*cos(q2)*cos(q1+3.141592653589793/6.0)*6.77E2-cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*2.25E2+cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*2.25E2+cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*2.25E2+sqrt(3.0)*cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*4.25E2-sqrt(3.0)*cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*4.25E2-sqrt(3.0)*cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-sqrt(3.0)*sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*4.25E2)+(vy*(cos(q1)*4.25E2-sin(q1+3.141592653589793/6.0)*8.5E2-cos(q1)*cos(q2)*6.77E2+cos(q1)*sin(q2)*2.25E2+cos(q2)*sin(q1)*2.25E2+sin(q1)*sin(q2)*6.77E2+sqrt(3.0)*sin(q1)*4.25E2-sqrt(3.0)*cos(q1)*sin(q2)*4.25E2-sqrt(3.0)*cos(q2)*sin(q1)*4.25E2)*(4.0E1/1.7E1))/(cos(q1)*cos(q1+3.141592653589793/6.0)*4.25E2+sin(q1)*sin(q1+3.141592653589793/6.0)*4.25E2-cos(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*6.77E2-cos(q2)*sin(q1)*sin(q1+3.141592653589793/6.0)*6.77E2+cos(q1+3.141592653589793/6.0)*sin(q1)*sin(q2)*6.77E2+sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*2.25E2-sqrt(3.0)*cos(q1)*sin(q1+3.141592653589793/6.0)*4.25E2+sqrt(3.0)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-cos(q1)*cos(q2)*cos(q1+3.141592653589793/6.0)*6.77E2-cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*2.25E2+cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*2.25E2+cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*2.25E2+sqrt(3.0)*cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*4.25E2-sqrt(3.0)*cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*4.25E2-sqrt(3.0)*cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-sqrt(3.0)*sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*4.25E2);
AnkePost 2:30749226b8bd 2 Joint_velocity[1][0] = (vx*(sin(q1)*-4.25E2+cos(q1)*cos(q2)*2.25E2+cos(q1)*sin(q2)*6.77E2+cos(q2)*sin(q1)*6.77E2-sin(q1)*sin(q2)*2.25E2+sqrt(3.0)*cos(q1)*4.25E2-sqrt(3.0)*cos(q1)*cos(q2)*4.25E2+sqrt(3.0)*sin(q1)*sin(q2)*4.25E2)*(-4.0E1/1.7E1))/(cos(q1)*cos(q1+3.141592653589793/6.0)*4.25E2+sin(q1)*sin(q1+3.141592653589793/6.0)*4.25E2-cos(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*6.77E2-cos(q2)*sin(q1)*sin(q1+3.141592653589793/6.0)*6.77E2+cos(q1+3.141592653589793/6.0)*sin(q1)*sin(q2)*6.77E2+sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*2.25E2-sqrt(3.0)*cos(q1)*sin(q1+3.141592653589793/6.0)*4.25E2+sqrt(3.0)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-cos(q1)*cos(q2)*cos(q1+3.141592653589793/6.0)*6.77E2-cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*2.25E2+cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*2.25E2+cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*2.25E2+sqrt(3.0)*cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*4.25E2-sqrt(3.0)*cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*4.25E2-sqrt(3.0)*cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-sqrt(3.0)*sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*4.25E2)-(vy*(cos(q1)*4.25E2-cos(q1)*cos(q2)*6.77E2+cos(q1)*sin(q2)*2.25E2+cos(q2)*sin(q1)*2.25E2+sin(q1)*sin(q2)*6.77E2+sqrt(3.0)*sin(q1)*4.25E2-sqrt(3.0)*cos(q1)*sin(q2)*4.25E2-sqrt(3.0)*cos(q2)*sin(q1)*4.25E2)*(4.0E1/1.7E1))/(cos(q1)*cos(q1+3.141592653589793/6.0)*4.25E2+sin(q1)*sin(q1+3.141592653589793/6.0)*4.25E2-cos(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*6.77E2-cos(q2)*sin(q1)*sin(q1+3.141592653589793/6.0)*6.77E2+cos(q1+3.141592653589793/6.0)*sin(q1)*sin(q2)*6.77E2+sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*2.25E2-sqrt(3.0)*cos(q1)*sin(q1+3.141592653589793/6.0)*4.25E2+sqrt(3.0)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-cos(q1)*cos(q2)*cos(q1+3.141592653589793/6.0)*6.77E2-cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*2.25E2+cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*2.25E2+cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*2.25E2+sqrt(3.0)*cos(q1)*cos(q2)*sin(q1+3.141592653589793/6.0)*4.25E2-sqrt(3.0)*cos(q1)*cos(q1+3.141592653589793/6.0)*sin(q2)*4.25E2-sqrt(3.0)*cos(q2)*cos(q1+3.141592653589793/6.0)*sin(q1)*4.25E2-sqrt(3.0)*sin(q1)*sin(q2)*sin(q1+3.141592653589793/6.0)*4.25E2);