Chen Huan / Mbed 2 deprecated StewartOlatform

StewartOlatform

Dependencies:   mbed

StewartPlatform.cpp@0:2b80f11eb1d3, 2017-10-11 (annotated)

Committer:
heroistired
Date:
Wed Oct 11 07:05:25 2017 +0000
Revision:
0:2b80f11eb1d3
stewart platform

Who changed what in which revision?

UserRevisionLine numberNew contents of line
heroistired 0:2b80f11eb1d3 1 #include "StewartPlatform.h"
heroistired 0:2b80f11eb1d3 2
heroistired 0:2b80f11eb1d3 3 //********************************************
heroistired 0:2b80f11eb1d3 4 //功能：计算矩阵乘法 C=A*B
heroistired 0:2b80f11eb1d3 5 //输入参数：A、B：参加运算的矩阵
heroistired 0:2b80f11eb1d3 6 //输出参数：C：运算结果
heroistired 0:2b80f11eb1d3 7 //返回值：计算是否成功 成功返回0 否则返回1
heroistired 0:2b80f11eb1d3 8 //调用外部函数：无
heroistired 0:2b80f11eb1d3 9 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 10 //********************************************
heroistired 0:2b80f11eb1d3 11 int MatrixDot(MatrixType* A, MatrixType* B, MatrixType* C)
heroistired 0:2b80f11eb1d3 12 {
heroistired 0:2b80f11eb1d3 13 int i, j, k; //循环控制变量
heroistired 0:2b80f11eb1d3 14 int posA, posB, posC; //矩阵下标索引
heroistired 0:2b80f11eb1d3 15
heroistired 0:2b80f11eb1d3 16 //判断异常
heroistired 0:2b80f11eb1d3 17 if(A->Size[1] != B->Size[0]) //维度不匹配
heroistired 0:2b80f11eb1d3 18 return 1;
heroistired 0:2b80f11eb1d3 19 if(A->Size[0] * B->Size[1] > 50) //C矩阵规模太大
heroistired 0:2b80f11eb1d3 20 return 1;
heroistired 0:2b80f11eb1d3 21
heroistired 0:2b80f11eb1d3 22 //计算矩阵乘法
heroistired 0:2b80f11eb1d3 23 C->Size[0] = A->Size[0]; //得到C的行列数
heroistired 0:2b80f11eb1d3 24 C->Size[1] = B->Size[1];
heroistired 0:2b80f11eb1d3 25 for(i = 1; i <= C->Size[0]; i++) //行循环
heroistired 0:2b80f11eb1d3 26 {
heroistired 0:2b80f11eb1d3 27 for(j = 1; j <= C->Size[1]; j++) //列循环
heroistired 0:2b80f11eb1d3 28 {
heroistired 0:2b80f11eb1d3 29 posC = f2(i,j,C->Size[1]);
heroistired 0:2b80f11eb1d3 30 C->Elements[posC] = 0;
heroistired 0:2b80f11eb1d3 31 for(k = 1; k <= A->Size[1]; k++) //计算乘法结果
heroistired 0:2b80f11eb1d3 32 {
heroistired 0:2b80f11eb1d3 33 posA = f2(i,k,A->Size[1]);
heroistired 0:2b80f11eb1d3 34 posB = f2(k,j,B->Size[1]);
heroistired 0:2b80f11eb1d3 35 C->Elements[posC] += A->Elements[posA] * B->Elements[posB];
heroistired 0:2b80f11eb1d3 36 }
heroistired 0:2b80f11eb1d3 37 }
heroistired 0:2b80f11eb1d3 38 }
heroistired 0:2b80f11eb1d3 39 return 0;
heroistired 0:2b80f11eb1d3 40 }
heroistired 0:2b80f11eb1d3 41
heroistired 0:2b80f11eb1d3 42 //********************************************
heroistired 0:2b80f11eb1d3 43 //功能：计算矩阵转置
heroistired 0:2b80f11eb1d3 44 //输入参数：A：被转置的矩阵
heroistired 0:2b80f11eb1d3 45 //输出参数：B：转置后的矩阵
heroistired 0:2b80f11eb1d3 46 //返回值：无
heroistired 0:2b80f11eb1d3 47 //调用外部函数：无
heroistired 0:2b80f11eb1d3 48 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 49 //********************************************
heroistired 0:2b80f11eb1d3 50 void MatrixTransposition(MatrixType* A, MatrixType* B)
heroistired 0:2b80f11eb1d3 51 {
heroistired 0:2b80f11eb1d3 52 int i, j;
heroistired 0:2b80f11eb1d3 53 int posA, posB;
heroistired 0:2b80f11eb1d3 54
heroistired 0:2b80f11eb1d3 55 B->Size[0] = A->Size[1];
heroistired 0:2b80f11eb1d3 56 B->Size[1] = A->Size[0];
heroistired 0:2b80f11eb1d3 57
heroistired 0:2b80f11eb1d3 58 for(i = 1; i <= A->Size[0]; i++)
heroistired 0:2b80f11eb1d3 59 {
heroistired 0:2b80f11eb1d3 60 for(j = 1; j <= A->Size[1]; j++)
heroistired 0:2b80f11eb1d3 61 {
heroistired 0:2b80f11eb1d3 62 posA = f2(i,j,A->Size[1]);
heroistired 0:2b80f11eb1d3 63 posB = f2(j,i,B->Size[1]);
heroistired 0:2b80f11eb1d3 64 B->Elements[posB] = A->Elements[posA];
heroistired 0:2b80f11eb1d3 65 }
heroistired 0:2b80f11eb1d3 66 }
heroistired 0:2b80f11eb1d3 67 }
heroistired 0:2b80f11eb1d3 68
heroistired 0:2b80f11eb1d3 69 //********************************************
heroistired 0:2b80f11eb1d3 70 //功能：获得矩阵的子阵
heroistired 0:2b80f11eb1d3 71 //输入参数：A：原矩阵 StartRow、StartColumn、EndRow、EndColumn：子阵起始元素 子阵终了元素
heroistired 0:2b80f11eb1d3 72 //输出参数：B：子阵
heroistired 0:2b80f11eb1d3 73 //返回值：无
heroistired 0:2b80f11eb1d3 74 //调用外部函数：无
heroistired 0:2b80f11eb1d3 75 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 76 //********************************************
heroistired 0:2b80f11eb1d3 77 void MatrixSub(MatrixType* A,int StartRow, int StartColumn, int EndRow, int EndColumn, MatrixType* B)
heroistired 0:2b80f11eb1d3 78 {
heroistired 0:2b80f11eb1d3 79 int i, j; //循环控制变量
heroistired 0:2b80f11eb1d3 80 int posA, posB; //矩阵索引
heroistired 0:2b80f11eb1d3 81
heroistired 0:2b80f11eb1d3 82 B->Size[0] = EndRow - StartRow + 1; //计算子阵的维度
heroistired 0:2b80f11eb1d3 83 B->Size[1] = EndColumn - StartColumn + 1;
heroistired 0:2b80f11eb1d3 84 for(i = 1; i <= B->Size[0]; i++)
heroistired 0:2b80f11eb1d3 85 {
heroistired 0:2b80f11eb1d3 86 for(j = 1; j <= B->Size[1]; j++)
heroistired 0:2b80f11eb1d3 87 {
heroistired 0:2b80f11eb1d3 88 posA = f2(StartRow + i - 1, StartColumn + j - 1, A->Size[1]);
heroistired 0:2b80f11eb1d3 89 posB = f2(i, j, B->Size[1]);
heroistired 0:2b80f11eb1d3 90 B->Elements[posB] = A->Elements[posA];
heroistired 0:2b80f11eb1d3 91 }
heroistired 0:2b80f11eb1d3 92 }
heroistired 0:2b80f11eb1d3 93 }
heroistired 0:2b80f11eb1d3 94
heroistired 0:2b80f11eb1d3 95 //********************************************
heroistired 0:2b80f11eb1d3 96 //功能：填充矩阵 将一个矩阵填充到另一个矩阵中
heroistired 0:2b80f11eb1d3 97 //输入参数：A：被填充的矩阵 Row、Column：矩阵填充的位置 B：要填充到被填充矩阵的矩阵
heroistired 0:2b80f11eb1d3 98 //输出参数：A：被填充的矩阵
heroistired 0:2b80f11eb1d3 99 //返回值：0 代表成功 1代表失败
heroistired 0:2b80f11eb1d3 100 //调用外部函数：无
heroistired 0:2b80f11eb1d3 101 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 102 //********************************************
heroistired 0:2b80f11eb1d3 103 int MatrixFill(MatrixType* A,int Row, int Column, MatrixType* B)
heroistired 0:2b80f11eb1d3 104 {
heroistired 0:2b80f11eb1d3 105 int i, j, posA, posB;
heroistired 0:2b80f11eb1d3 106
heroistired 0:2b80f11eb1d3 107 if((Row + B->Size[0] - 1) > A->Size[0])
heroistired 0:2b80f11eb1d3 108 {
heroistired 0:2b80f11eb1d3 109 return 1;
heroistired 0:2b80f11eb1d3 110 }
heroistired 0:2b80f11eb1d3 111 else if((Column + B->Size[1] - 1) > A->Size[1])
heroistired 0:2b80f11eb1d3 112 {
heroistired 0:2b80f11eb1d3 113 return 1;
heroistired 0:2b80f11eb1d3 114 }
heroistired 0:2b80f11eb1d3 115 else
heroistired 0:2b80f11eb1d3 116 {
heroistired 0:2b80f11eb1d3 117 for(i = 1; i <= B->Size[0]; i++)
heroistired 0:2b80f11eb1d3 118 {
heroistired 0:2b80f11eb1d3 119 for(j = 1; j <= B->Size[1]; j++)
heroistired 0:2b80f11eb1d3 120 {
heroistired 0:2b80f11eb1d3 121 posA = f2(Row + i - 1, Column + j - 1, A->Size[1]);
heroistired 0:2b80f11eb1d3 122 posB = f2(i, j, B->Size[1]);
heroistired 0:2b80f11eb1d3 123 A->Elements[posA] = B->Elements[posB];
heroistired 0:2b80f11eb1d3 124 }
heroistired 0:2b80f11eb1d3 125 }
heroistired 0:2b80f11eb1d3 126 return 0;
heroistired 0:2b80f11eb1d3 127 }
heroistired 0:2b80f11eb1d3 128 }
heroistired 0:2b80f11eb1d3 129
heroistired 0:2b80f11eb1d3 130 //********************************************
heroistired 0:2b80f11eb1d3 131 //功能：指定动平台变换矩阵参数x,y,z,a,b,c，计算动平台上的点A在绝对坐标系下的坐标B A可以是多个点 一行一个点
heroistired 0:2b80f11eb1d3 132 //输入参数：x,y,z,a,b,c：动平台变换矩阵参数 A：动平台上点的相对坐标
heroistired 0:2b80f11eb1d3 133 //输出参数：B：点在绝对坐标系下的坐标
heroistired 0:2b80f11eb1d3 134 //返回值：无
heroistired 0:2b80f11eb1d3 135 //调用外部函数：无
heroistired 0:2b80f11eb1d3 136 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 137 //********************************************
heroistired 0:2b80f11eb1d3 138 void Inverse(float x, float y, float z, float a, float b, float c, MatrixType* A, MatrixType* B)
heroistired 0:2b80f11eb1d3 139 {
heroistired 0:2b80f11eb1d3 140 int i;
heroistired 0:2b80f11eb1d3 141
heroistired 0:2b80f11eb1d3 142 MatrixType T; //原点平移
heroistired 0:2b80f11eb1d3 143 MatrixType Ra; //俯仰 YAW
heroistired 0:2b80f11eb1d3 144 MatrixType Rb; //横滚 ROLL
heroistired 0:2b80f11eb1d3 145 MatrixType Rc; //偏航 PITCH
heroistired 0:2b80f11eb1d3 146 MatrixType temp1, temp2, temp3;
heroistired 0:2b80f11eb1d3 147
heroistired 0:2b80f11eb1d3 148 T.Size[0] = 4;
heroistired 0:2b80f11eb1d3 149 T.Size[1] = 4;
heroistired 0:2b80f11eb1d3 150 T.Elements[f2(1,1,T.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 151 T.Elements[f2(1,2,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 152 T.Elements[f2(1,3,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 153 T.Elements[f2(1,4,T.Size[1])] = x;
heroistired 0:2b80f11eb1d3 154 T.Elements[f2(2,1,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 155 T.Elements[f2(2,2,T.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 156 T.Elements[f2(2,3,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 157 T.Elements[f2(2,4,T.Size[1])] = y;
heroistired 0:2b80f11eb1d3 158 T.Elements[f2(3,1,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 159 T.Elements[f2(3,2,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 160 T.Elements[f2(3,3,T.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 161 T.Elements[f2(3,4,T.Size[1])] = z;
heroistired 0:2b80f11eb1d3 162 T.Elements[f2(4,1,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 163 T.Elements[f2(4,2,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 164 T.Elements[f2(4,3,T.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 165 T.Elements[f2(4,4,T.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 166
heroistired 0:2b80f11eb1d3 167 Ra.Size[0] = 4;
heroistired 0:2b80f11eb1d3 168 Ra.Size[1] = 4;
heroistired 0:2b80f11eb1d3 169 Ra.Elements[f2(1,1,Ra.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 170 Ra.Elements[f2(1,2,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 171 Ra.Elements[f2(1,3,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 172 Ra.Elements[f2(1,4,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 173 Ra.Elements[f2(2,1,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 174 Ra.Elements[f2(2,2,Ra.Size[1])] = cosd(a);
heroistired 0:2b80f11eb1d3 175 Ra.Elements[f2(2,3,Ra.Size[1])] = -sind(a);
heroistired 0:2b80f11eb1d3 176 Ra.Elements[f2(2,4,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 177 Ra.Elements[f2(3,1,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 178 Ra.Elements[f2(3,2,Ra.Size[1])] = sind(a);
heroistired 0:2b80f11eb1d3 179 Ra.Elements[f2(3,3,Ra.Size[1])] = cosd(a);
heroistired 0:2b80f11eb1d3 180 Ra.Elements[f2(3,4,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 181 Ra.Elements[f2(4,1,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 182 Ra.Elements[f2(4,2,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 183 Ra.Elements[f2(4,3,Ra.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 184 Ra.Elements[f2(4,4,Ra.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 185
heroistired 0:2b80f11eb1d3 186 Rb.Size[0] = 4;
heroistired 0:2b80f11eb1d3 187 Rb.Size[1] = 4;
heroistired 0:2b80f11eb1d3 188 Rb.Elements[f2(1,1,Rb.Size[1])] = cosd(b);
heroistired 0:2b80f11eb1d3 189 Rb.Elements[f2(1,2,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 190 Rb.Elements[f2(1,3,Rb.Size[1])] = sind(b);
heroistired 0:2b80f11eb1d3 191 Rb.Elements[f2(1,4,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 192 Rb.Elements[f2(2,1,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 193 Rb.Elements[f2(2,2,Rb.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 194 Rb.Elements[f2(2,3,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 195 Rb.Elements[f2(2,4,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 196 Rb.Elements[f2(3,1,Rb.Size[1])] = -sind(b);
heroistired 0:2b80f11eb1d3 197 Rb.Elements[f2(3,2,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 198 Rb.Elements[f2(3,3,Rb.Size[1])] = cosd(b);
heroistired 0:2b80f11eb1d3 199 Rb.Elements[f2(3,4,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 200 Rb.Elements[f2(4,1,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 201 Rb.Elements[f2(4,2,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 202 Rb.Elements[f2(4,3,Rb.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 203 Rb.Elements[f2(4,4,Rb.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 204
heroistired 0:2b80f11eb1d3 205 Rc.Size[0] = 4;
heroistired 0:2b80f11eb1d3 206 Rc.Size[1] = 4;
heroistired 0:2b80f11eb1d3 207 Rc.Elements[f2(1,1,Rc.Size[1])] = cosd(c);
heroistired 0:2b80f11eb1d3 208 Rc.Elements[f2(1,2,Rc.Size[1])] = -sind(c);
heroistired 0:2b80f11eb1d3 209 Rc.Elements[f2(1,3,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 210 Rc.Elements[f2(1,4,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 211 Rc.Elements[f2(2,1,Rc.Size[1])] = sind(c);
heroistired 0:2b80f11eb1d3 212 Rc.Elements[f2(2,2,Rc.Size[1])] = cosd(c);
heroistired 0:2b80f11eb1d3 213 Rc.Elements[f2(2,3,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 214 Rc.Elements[f2(2,4,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 215 Rc.Elements[f2(3,1,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 216 Rc.Elements[f2(3,2,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 217 Rc.Elements[f2(3,3,Rc.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 218 Rc.Elements[f2(3,4,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 219 Rc.Elements[f2(4,1,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 220 Rc.Elements[f2(4,2,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 221 Rc.Elements[f2(4,3,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 222 Rc.Elements[f2(4,4,Rc.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 223
heroistired 0:2b80f11eb1d3 224 B->Size[0] = A->Size[0];
heroistired 0:2b80f11eb1d3 225 B->Size[1] = A->Size[1];
heroistired 0:2b80f11eb1d3 226 MatrixDot(&T, &Rc, &temp1); //相当于T * Rc * Rb * Ra
heroistired 0:2b80f11eb1d3 227 MatrixDot(&temp1, &Rb, &temp2);
heroistired 0:2b80f11eb1d3 228 MatrixDot(&temp2, &Ra, &temp1);
heroistired 0:2b80f11eb1d3 229 for(i = 1; i <= B->Size[0]; i++)
heroistired 0:2b80f11eb1d3 230 {
heroistired 0:2b80f11eb1d3 231 MatrixSub(A, i, 1, i, A->Size[1], &temp2);
heroistired 0:2b80f11eb1d3 232 MatrixTransposition(&temp2, &temp3);
heroistired 0:2b80f11eb1d3 233 MatrixDot(&temp1, &temp3, &temp2);
heroistired 0:2b80f11eb1d3 234 MatrixTransposition(&temp2, &temp3);
heroistired 0:2b80f11eb1d3 235 MatrixFill(B, i, 1, &temp3);
heroistired 0:2b80f11eb1d3 236 }
heroistired 0:2b80f11eb1d3 237 }
heroistired 0:2b80f11eb1d3 238
heroistired 0:2b80f11eb1d3 239 //********************************************
heroistired 0:2b80f11eb1d3 240 //功能：计算矩阵行向量所表示的坐标点之间的距离
heroistired 0:2b80f11eb1d3 241 //输入参数：A, B：要计算距离的矩阵
heroistired 0:2b80f11eb1d3 242 //输出参数：C：包含距离值信息的列向量
heroistired 0:2b80f11eb1d3 243 //返回值：无
heroistired 0:2b80f11eb1d3 244 //调用外部函数：无
heroistired 0:2b80f11eb1d3 245 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 246 //********************************************
heroistired 0:2b80f11eb1d3 247 int Distance2Point(MatrixType* A, MatrixType* B, MatrixType* C)
heroistired 0:2b80f11eb1d3 248 {
heroistired 0:2b80f11eb1d3 249 float distance = 0;
heroistired 0:2b80f11eb1d3 250 int i = 0, j = 0;
heroistired 0:2b80f11eb1d3 251 if((A->Size[0] != B->Size[0]) || (A->Size[1] != 4) || (B->Size[1] != 4))
heroistired 0:2b80f11eb1d3 252 {
heroistired 0:2b80f11eb1d3 253 return 1;
heroistired 0:2b80f11eb1d3 254 }
heroistired 0:2b80f11eb1d3 255 else
heroistired 0:2b80f11eb1d3 256 {
heroistired 0:2b80f11eb1d3 257 C->Size[0] = A->Size[0];
heroistired 0:2b80f11eb1d3 258 C->Size[1] = 1;
heroistired 0:2b80f11eb1d3 259 for(i = 1; i <= A->Size[0]; i++)
heroistired 0:2b80f11eb1d3 260 {
heroistired 0:2b80f11eb1d3 261 for(j = 1; j <= A->Size[1]; j++)
heroistired 0:2b80f11eb1d3 262 {
heroistired 0:2b80f11eb1d3 263 distance = distance + (A->Elements[f2(i,j,A->Size[1])] - B->Elements[f2(i,j,B->Size[1])]) * (A->Elements[f2(i,j,A->Size[1])] - B->Elements[f2(i,j,B->Size[1])]);
heroistired 0:2b80f11eb1d3 264 }
heroistired 0:2b80f11eb1d3 265 C->Elements[f2(i,1,C->Size[1])] = sqrt(distance);
heroistired 0:2b80f11eb1d3 266 distance = 0;
heroistired 0:2b80f11eb1d3 267 }
heroistired 0:2b80f11eb1d3 268 return 0;
heroistired 0:2b80f11eb1d3 269 }
heroistired 0:2b80f11eb1d3 270 }
heroistired 0:2b80f11eb1d3 271
heroistired 0:2b80f11eb1d3 272 //********************************************
heroistired 0:2b80f11eb1d3 273 //功能：解析动感平台
heroistired 0:2b80f11eb1d3 274 //输入参数：Platform：动感平台数据结构 包含各种输入输出
heroistired 0:2b80f11eb1d3 275 //输出参数：无
heroistired 0:2b80f11eb1d3 276 //返回值：无
heroistired 0:2b80f11eb1d3 277 //调用外部函数：无
heroistired 0:2b80f11eb1d3 278 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 279 //********************************************
heroistired 0:2b80f11eb1d3 280 void CalStewartPlatform(StewartPlatformType* Platform)
heroistired 0:2b80f11eb1d3 281 {
heroistired 0:2b80f11eb1d3 282 int x, y, z, a, b, c; //动平台变换矩阵参数
heroistired 0:2b80f11eb1d3 283 float xx, yy, zz, r, l, AA, BB, CC, DD, EE, delta, mytheta1, mytheta2, d, e, f, l1, l2, l3, l4; //计算电机角度用的参数
heroistired 0:2b80f11eb1d3 284 float theta1, theta2, theta3, theta4, theta5, theta6;
heroistired 0:2b80f11eb1d3 285 float topRadius, topInterval, bottomRadius, bottomInterval, lengthOfSteelWheel, lengthOfCardan, lengthOfBar;
heroistired 0:2b80f11eb1d3 286 //平台机械尺寸定义
heroistired 0:2b80f11eb1d3 287 float theta0; //舵盘结构的倾角
heroistired 0:2b80f11eb1d3 288 MatrixType temp1, temp2;
heroistired 0:2b80f11eb1d3 289
heroistired 0:2b80f11eb1d3 290 MatrixType topPlatform; //动平台上的6个参考点
heroistired 0:2b80f11eb1d3 291 MatrixType Rc;
heroistired 0:2b80f11eb1d3 292 MatrixType bottomPlatform; //定平台上的6个参考点
heroistired 0:2b80f11eb1d3 293 MatrixType lengthOfBar1;
heroistired 0:2b80f11eb1d3 294
heroistired 0:2b80f11eb1d3 295 topRadius = Platform->topRadius; //平台参数初始化
heroistired 0:2b80f11eb1d3 296 topInterval = Platform->topInterval;
heroistired 0:2b80f11eb1d3 297 bottomRadius = Platform->bottomRadius;
heroistired 0:2b80f11eb1d3 298 bottomInterval = Platform->bottomInterval;
heroistired 0:2b80f11eb1d3 299 lengthOfSteelWheel = Platform->lengthOfSteelWheel;
heroistired 0:2b80f11eb1d3 300 lengthOfCardan = Platform->lengthOfCardan;
heroistired 0:2b80f11eb1d3 301 lengthOfBar = Platform->lengthOfBar;
heroistired 0:2b80f11eb1d3 302
heroistired 0:2b80f11eb1d3 303 topPlatform.Size[0] = 6;
heroistired 0:2b80f11eb1d3 304 topPlatform.Size[1] = 4;
heroistired 0:2b80f11eb1d3 305 topPlatform.Elements[f2(1,1,topPlatform.Size[1])] = -topInterval / 2;
heroistired 0:2b80f11eb1d3 306 topPlatform.Elements[f2(1,2,topPlatform.Size[1])] = -topRadius;
heroistired 0:2b80f11eb1d3 307 topPlatform.Elements[f2(1,3,topPlatform.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 308 topPlatform.Elements[f2(1,4,topPlatform.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 309 topPlatform.Elements[f2(2,1,topPlatform.Size[1])] = topInterval / 2;
heroistired 0:2b80f11eb1d3 310 topPlatform.Elements[f2(2,2,topPlatform.Size[1])] = -topRadius;
heroistired 0:2b80f11eb1d3 311 topPlatform.Elements[f2(2,3,topPlatform.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 312 topPlatform.Elements[f2(2,4,topPlatform.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 313
heroistired 0:2b80f11eb1d3 314 Rc.Size[0] = 4;
heroistired 0:2b80f11eb1d3 315 Rc.Size[1] = 4;
heroistired 0:2b80f11eb1d3 316 Rc.Elements[f2(1,1,Rc.Size[1])] = cosd(120);
heroistired 0:2b80f11eb1d3 317 Rc.Elements[f2(1,2,Rc.Size[1])] = -sind(120);
heroistired 0:2b80f11eb1d3 318 Rc.Elements[f2(1,3,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 319 Rc.Elements[f2(1,4,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 320 Rc.Elements[f2(2,1,Rc.Size[1])] = sind(120);
heroistired 0:2b80f11eb1d3 321 Rc.Elements[f2(2,2,Rc.Size[1])] = cosd(120);
heroistired 0:2b80f11eb1d3 322 Rc.Elements[f2(2,3,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 323 Rc.Elements[f2(2,4,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 324 Rc.Elements[f2(3,1,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 325 Rc.Elements[f2(3,2,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 326 Rc.Elements[f2(3,3,Rc.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 327 Rc.Elements[f2(3,4,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 328 Rc.Elements[f2(4,1,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 329 Rc.Elements[f2(4,2,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 330 Rc.Elements[f2(4,3,Rc.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 331 Rc.Elements[f2(4,4,Rc.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 332
heroistired 0:2b80f11eb1d3 333 MatrixSub(&topPlatform, 1, 1, 1, 4, &temp1); //等效于topPlatform(3,:) = (Rc * topPlatform(1, :)')';
heroistired 0:2b80f11eb1d3 334 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 335 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 336 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 337 MatrixFill(&topPlatform, 3, 1, &temp2);
heroistired 0:2b80f11eb1d3 338 MatrixSub(&topPlatform, 2, 1, 2, 4, &temp1); //等效于topPlatform(4,:) = (Rc * topPlatform(2, :)')';
heroistired 0:2b80f11eb1d3 339 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 340 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 341 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 342 MatrixFill(&topPlatform, 4, 1, &temp2);
heroistired 0:2b80f11eb1d3 343 MatrixSub(&topPlatform, 3, 1, 3, 4, &temp1); //等效于topPlatform(5,:) = (Rc * topPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 344 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 345 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 346 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 347 MatrixFill(&topPlatform, 5, 1, &temp2);
heroistired 0:2b80f11eb1d3 348 MatrixSub(&topPlatform, 4, 1, 4, 4, &temp1); //等效于topPlatform(5,:) = (Rc * topPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 349 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 350 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 351 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 352 MatrixFill(&topPlatform, 6, 1, &temp2);
heroistired 0:2b80f11eb1d3 353
heroistired 0:2b80f11eb1d3 354 x = Platform->x;
heroistired 0:2b80f11eb1d3 355 y = Platform->y;
heroistired 0:2b80f11eb1d3 356 z = Platform->z;
heroistired 0:2b80f11eb1d3 357 a = Platform->a;
heroistired 0:2b80f11eb1d3 358 b = Platform->b;
heroistired 0:2b80f11eb1d3 359 c = Platform->c;
heroistired 0:2b80f11eb1d3 360 Inverse(x, y, z, a, b, c, &topPlatform, &temp1); //计算出动平台参考点的实际位置
heroistired 0:2b80f11eb1d3 361 MatrixFill(&topPlatform, 1, 1, &temp1);
heroistired 0:2b80f11eb1d3 362
heroistired 0:2b80f11eb1d3 363 bottomPlatform.Size[0] = 6;
heroistired 0:2b80f11eb1d3 364 bottomPlatform.Size[1] = 4;
heroistired 0:2b80f11eb1d3 365 bottomPlatform.Elements[f2(1,1,bottomPlatform.Size[1])] = -bottomInterval / 2;
heroistired 0:2b80f11eb1d3 366 bottomPlatform.Elements[f2(1,2,bottomPlatform.Size[1])] = -bottomRadius;
heroistired 0:2b80f11eb1d3 367 bottomPlatform.Elements[f2(1,3,bottomPlatform.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 368 bottomPlatform.Elements[f2(1,4,bottomPlatform.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 369 bottomPlatform.Elements[f2(2,1,bottomPlatform.Size[1])] = bottomInterval / 2;
heroistired 0:2b80f11eb1d3 370 bottomPlatform.Elements[f2(2,2,bottomPlatform.Size[1])] = -bottomRadius;
heroistired 0:2b80f11eb1d3 371 bottomPlatform.Elements[f2(2,3,bottomPlatform.Size[1])] = 0;
heroistired 0:2b80f11eb1d3 372 bottomPlatform.Elements[f2(2,4,bottomPlatform.Size[1])] = 1;
heroistired 0:2b80f11eb1d3 373
heroistired 0:2b80f11eb1d3 374 MatrixSub(&bottomPlatform, 1, 1, 1, 4, &temp1); //等效于bottomPlatform(3,:) = (Rc * bottomPlatform(1, :)')';
heroistired 0:2b80f11eb1d3 375 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 376 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 377 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 378 MatrixFill(&bottomPlatform, 3, 1, &temp2);
heroistired 0:2b80f11eb1d3 379 MatrixSub(&bottomPlatform, 2, 1, 2, 4, &temp1); //等效于bottomPlatform(4,:) = (Rc * bottomPlatform(2, :)')';
heroistired 0:2b80f11eb1d3 380 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 381 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 382 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 383 MatrixFill(&bottomPlatform, 4, 1, &temp2);
heroistired 0:2b80f11eb1d3 384 MatrixSub(&bottomPlatform, 3, 1, 3, 4, &temp1); //等效于bottomPlatform(5,:) = (Rc * bottomPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 385 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 386 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 387 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 388 MatrixFill(&bottomPlatform, 5, 1, &temp2);
heroistired 0:2b80f11eb1d3 389 MatrixSub(&bottomPlatform, 4, 1, 4, 4, &temp1); //等效于bottomPlatform(6,:) = (Rc * bottomPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 390 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 391 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 392 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 393 MatrixFill(&bottomPlatform, 6, 1, &temp2);
heroistired 0:2b80f11eb1d3 394
heroistired 0:2b80f11eb1d3 395 Distance2Point(&topPlatform, &bottomPlatform, &lengthOfBar1);
heroistired 0:2b80f11eb1d3 396
heroistired 0:2b80f11eb1d3 397 Platform->BarLength[0] = lengthOfBar1.Elements[f2(1,1,lengthOfBar1.Size[1])]; //赋值计算出的杆长
heroistired 0:2b80f11eb1d3 398 Platform->BarLength[1] = lengthOfBar1.Elements[f2(2,1,lengthOfBar1.Size[1])];
heroistired 0:2b80f11eb1d3 399 Platform->BarLength[2] = lengthOfBar1.Elements[f2(3,1,lengthOfBar1.Size[1])];
heroistired 0:2b80f11eb1d3 400 Platform->BarLength[3] = lengthOfBar1.Elements[f2(4,1,lengthOfBar1.Size[1])];
heroistired 0:2b80f11eb1d3 401 Platform->BarLength[4] = lengthOfBar1.Elements[f2(5,1,lengthOfBar1.Size[1])];
heroistired 0:2b80f11eb1d3 402 Platform->BarLength[5] = lengthOfBar1.Elements[f2(6,1,lengthOfBar1.Size[1])];
heroistired 0:2b80f11eb1d3 403
heroistired 0:2b80f11eb1d3 404 //计算角度
heroistired 0:2b80f11eb1d3 405 r = sqrt(lengthOfCardan * lengthOfCardan + lengthOfSteelWheel * lengthOfSteelWheel);
heroistired 0:2b80f11eb1d3 406 l = lengthOfBar;
heroistired 0:2b80f11eb1d3 407 //点1
heroistired 0:2b80f11eb1d3 408 xx = topPlatform.Elements[f2(1,1,topPlatform.Size[1])] - bottomPlatform.Elements[f2(1,1,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 409 yy = topPlatform.Elements[f2(1,2,topPlatform.Size[1])] - bottomPlatform.Elements[f2(1,2,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 410 zz = topPlatform.Elements[f2(1,3,topPlatform.Size[1])] - bottomPlatform.Elements[f2(1,3,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 411 AA = -(l * l - xx * xx - yy * yy - r * r - zz * zz) / (2 * r * zz);
heroistired 0:2b80f11eb1d3 412 BB = 2 * r * xx / (2 * r * zz);
heroistired 0:2b80f11eb1d3 413 CC = BB * BB + 1;
heroistired 0:2b80f11eb1d3 414 DD = 2 * AA * BB;
heroistired 0:2b80f11eb1d3 415 EE = AA * AA - 1;
heroistired 0:2b80f11eb1d3 416 delta = DD * DD - 4 * CC * EE;
heroistired 0:2b80f11eb1d3 417 mytheta1 = acos((-DD + sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 418 mytheta2 = acos((-DD - sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 419 d = (xx + r * cos(mytheta1)) * (xx + r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 420 e = yy * yy;
heroistired 0:2b80f11eb1d3 421 f = (zz - r * sin(mytheta1)) * (zz - r * sin(mytheta1));
heroistired 0:2b80f11eb1d3 422 l1 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 423 d = (xx + r * cos(mytheta1)) * (xx + r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 424 e = yy * yy;
heroistired 0:2b80f11eb1d3 425 f = (zz - r * sin(-mytheta1)) * (zz - r * sin(-mytheta1));
heroistired 0:2b80f11eb1d3 426 l2 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 427 d = (xx + r * cos(mytheta2)) * (xx + r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 428 e = yy * yy;
heroistired 0:2b80f11eb1d3 429 f = (zz - r * sin(mytheta2)) * (zz - r * sin(mytheta2));
heroistired 0:2b80f11eb1d3 430 l3 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 431 d = (xx + r * cos(mytheta2)) * (xx + r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 432 e = yy * yy;
heroistired 0:2b80f11eb1d3 433 f = (zz - r * sin(-mytheta2)) * (zz - r * sin(-mytheta2));
heroistired 0:2b80f11eb1d3 434 l4 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 435 mytheta1 = mytheta1 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 436 mytheta2 = mytheta2 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 437 if(abs(l1 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 438 {
heroistired 0:2b80f11eb1d3 439 theta1 = mytheta1;
heroistired 0:2b80f11eb1d3 440 }
heroistired 0:2b80f11eb1d3 441 else if(abs(l2 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 442 {
heroistired 0:2b80f11eb1d3 443 theta1 = -mytheta1;
heroistired 0:2b80f11eb1d3 444 }
heroistired 0:2b80f11eb1d3 445 else if(abs(l3 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 446 {
heroistired 0:2b80f11eb1d3 447 theta1 = mytheta2;
heroistired 0:2b80f11eb1d3 448 }
heroistired 0:2b80f11eb1d3 449 else
heroistired 0:2b80f11eb1d3 450 {
heroistired 0:2b80f11eb1d3 451 theta1 = -mytheta2;
heroistired 0:2b80f11eb1d3 452 }
heroistired 0:2b80f11eb1d3 453 //点2
heroistired 0:2b80f11eb1d3 454 xx = topPlatform.Elements[f2(2,1,topPlatform.Size[1])] - bottomPlatform.Elements[f2(2,1,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 455 yy = topPlatform.Elements[f2(2,2,topPlatform.Size[1])] - bottomPlatform.Elements[f2(2,2,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 456 zz = topPlatform.Elements[f2(2,3,topPlatform.Size[1])] - bottomPlatform.Elements[f2(2,3,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 457 AA = -(l * l - xx * xx - yy * yy - r * r - zz * zz) / (2 * r * zz);
heroistired 0:2b80f11eb1d3 458 BB = -2 * r * xx / (2 * r * zz);
heroistired 0:2b80f11eb1d3 459 CC = BB * BB + 1;
heroistired 0:2b80f11eb1d3 460 DD = 2 * AA * BB;
heroistired 0:2b80f11eb1d3 461 EE = AA * AA - 1;
heroistired 0:2b80f11eb1d3 462 delta = DD * DD - 4 * CC * EE;
heroistired 0:2b80f11eb1d3 463 mytheta1 = acos((-DD + sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 464 mytheta2 = acos((-DD - sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 465 d = (xx - r * cos(mytheta1)) * (xx - r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 466 e = yy * yy;
heroistired 0:2b80f11eb1d3 467 f = (zz - r * sin(mytheta1)) * (zz - r * sin(mytheta1));
heroistired 0:2b80f11eb1d3 468 l1 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 469 d = (xx - r * cos(mytheta1)) * (xx - r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 470 e = yy * yy;
heroistired 0:2b80f11eb1d3 471 f = (zz - r * sin(-mytheta1)) * (zz - r * sin(-mytheta1));
heroistired 0:2b80f11eb1d3 472 l2 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 473 d = (xx - r * cos(mytheta2)) * (xx - r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 474 e = yy * yy;
heroistired 0:2b80f11eb1d3 475 f = (zz - r * sin(mytheta2)) * (zz - r * sin(mytheta2));
heroistired 0:2b80f11eb1d3 476 l3 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 477 d = (xx - r * cos(mytheta2)) * (xx - r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 478 e = yy * yy;
heroistired 0:2b80f11eb1d3 479 f = (zz - r * sin(-mytheta2)) * (zz - r * sin(-mytheta2));
heroistired 0:2b80f11eb1d3 480 l4 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 481 mytheta1 = mytheta1 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 482 mytheta2 = mytheta2 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 483 if(abs(l1 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 484 {
heroistired 0:2b80f11eb1d3 485 theta2 = mytheta1;
heroistired 0:2b80f11eb1d3 486 }
heroistired 0:2b80f11eb1d3 487 else if(abs(l2 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 488 {
heroistired 0:2b80f11eb1d3 489 theta2 = -mytheta1;
heroistired 0:2b80f11eb1d3 490 }
heroistired 0:2b80f11eb1d3 491 else if(abs(l4 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 492 {
heroistired 0:2b80f11eb1d3 493 theta2 = mytheta2;
heroistired 0:2b80f11eb1d3 494 }
heroistired 0:2b80f11eb1d3 495 else
heroistired 0:2b80f11eb1d3 496 {
heroistired 0:2b80f11eb1d3 497 theta2 = -mytheta2;
heroistired 0:2b80f11eb1d3 498 }
heroistired 0:2b80f11eb1d3 499 //点3
heroistired 0:2b80f11eb1d3 500 MatrixSub(&topPlatform, 3, 1, 3, 4, &temp1); //等效于bottomPlatform(6,:) = (Rc * Rc * bottomPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 501 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 502 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 503 MatrixDot(&Rc, &temp1, &temp2);
heroistired 0:2b80f11eb1d3 504 MatrixTransposition(&temp2, &temp1);
heroistired 0:2b80f11eb1d3 505 xx = temp1.Elements[f2(1,1,temp1.Size[1])] - bottomPlatform.Elements[f2(1,1,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 506 yy = temp1.Elements[f2(1,2,temp1.Size[1])] - bottomPlatform.Elements[f2(1,2,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 507 zz = temp1.Elements[f2(1,3,temp1.Size[1])] - bottomPlatform.Elements[f2(1,3,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 508 AA = -(l * l - xx * xx - yy * yy - r * r - zz * zz) / (2 * r * zz);
heroistired 0:2b80f11eb1d3 509 BB = 2 * r * xx / (2 * r * zz);
heroistired 0:2b80f11eb1d3 510 CC = BB * BB + 1;
heroistired 0:2b80f11eb1d3 511 DD = 2 * AA * BB;
heroistired 0:2b80f11eb1d3 512 EE = AA * AA - 1;
heroistired 0:2b80f11eb1d3 513 delta = DD * DD - 4 * CC * EE;
heroistired 0:2b80f11eb1d3 514 mytheta1 = acos((-DD + sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 515 mytheta2 = acos((-DD - sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 516 d = (xx + r * cos(mytheta1)) * (xx + r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 517 e = yy * yy;
heroistired 0:2b80f11eb1d3 518 f = (zz - r * sin(mytheta1)) * (zz - r * sin(mytheta1));
heroistired 0:2b80f11eb1d3 519 l1 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 520 d = (xx + r * cos(mytheta1)) * (xx + r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 521 e = yy * yy;
heroistired 0:2b80f11eb1d3 522 f = (zz - r * sin(-mytheta1)) * (zz - r * sin(-mytheta1));
heroistired 0:2b80f11eb1d3 523 l2 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 524 d = (xx + r * cos(mytheta2)) * (xx + r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 525 e = yy * yy;
heroistired 0:2b80f11eb1d3 526 f = (zz - r * sin(mytheta2)) * (zz - r * sin(mytheta2));
heroistired 0:2b80f11eb1d3 527 l3 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 528 d = (xx + r * cos(mytheta2)) * (xx + r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 529 e = yy * yy;
heroistired 0:2b80f11eb1d3 530 f = (zz - r * sin(-mytheta2)) * (zz - r * sin(-mytheta2));
heroistired 0:2b80f11eb1d3 531 l4 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 532 mytheta1 = mytheta1 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 533 mytheta2 = mytheta2 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 534 if(abs(l1 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 535 {
heroistired 0:2b80f11eb1d3 536 theta3 = mytheta1;
heroistired 0:2b80f11eb1d3 537 }
heroistired 0:2b80f11eb1d3 538 else if(abs(l2 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 539 {
heroistired 0:2b80f11eb1d3 540 theta3 = -mytheta1;
heroistired 0:2b80f11eb1d3 541 }
heroistired 0:2b80f11eb1d3 542 else if(abs(l4 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 543 {
heroistired 0:2b80f11eb1d3 544 theta3 = mytheta2;
heroistired 0:2b80f11eb1d3 545 }
heroistired 0:2b80f11eb1d3 546 else
heroistired 0:2b80f11eb1d3 547 {
heroistired 0:2b80f11eb1d3 548 theta3 = -mytheta2;
heroistired 0:2b80f11eb1d3 549 }
heroistired 0:2b80f11eb1d3 550 //点4
heroistired 0:2b80f11eb1d3 551 MatrixSub(&topPlatform, 4, 1, 4, 4, &temp1); //等效于bottomPlatform(6,:) = (Rc * Rc * bottomPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 552 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 553 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 554 MatrixDot(&Rc, &temp1, &temp2);
heroistired 0:2b80f11eb1d3 555 MatrixTransposition(&temp2, &temp1);
heroistired 0:2b80f11eb1d3 556 xx = temp1.Elements[f2(1,1,temp1.Size[1])] - bottomPlatform.Elements[f2(2,1,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 557 yy = temp1.Elements[f2(1,2,temp1.Size[1])] - bottomPlatform.Elements[f2(2,2,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 558 zz = temp1.Elements[f2(1,3,temp1.Size[1])] - bottomPlatform.Elements[f2(2,3,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 559 AA = -(l * l - xx * xx - yy * yy - r * r - zz * zz) / (2 * r * zz);
heroistired 0:2b80f11eb1d3 560 BB = -2 * r * xx / (2 * r * zz);
heroistired 0:2b80f11eb1d3 561 CC = BB * BB + 1;
heroistired 0:2b80f11eb1d3 562 DD = 2 * AA * BB;
heroistired 0:2b80f11eb1d3 563 EE = AA * AA - 1;
heroistired 0:2b80f11eb1d3 564 delta = DD * DD - 4 * CC * EE;
heroistired 0:2b80f11eb1d3 565 mytheta1 = acos((-DD + sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 566 mytheta2 = acos((-DD - sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 567 d = (xx - r * cos(mytheta1)) * (xx - r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 568 e = yy * yy;
heroistired 0:2b80f11eb1d3 569 f = (zz - r * sin(mytheta1)) * (zz - r * sin(mytheta1));
heroistired 0:2b80f11eb1d3 570 l1 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 571 d = (xx - r * cos(mytheta1)) * (xx - r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 572 e = yy * yy;
heroistired 0:2b80f11eb1d3 573 f = (zz - r * sin(-mytheta1)) * (zz - r * sin(-mytheta1));
heroistired 0:2b80f11eb1d3 574 l2 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 575 d = (xx - r * cos(mytheta2)) * (xx - r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 576 e = yy * yy;
heroistired 0:2b80f11eb1d3 577 f = (zz - r * sin(mytheta2)) * (zz - r * sin(mytheta2));
heroistired 0:2b80f11eb1d3 578 l3 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 579 d = (xx - r * cos(mytheta2)) * (xx - r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 580 e = yy * yy;
heroistired 0:2b80f11eb1d3 581 f = (zz - r * sin(-mytheta2)) * (zz - r * sin(-mytheta2));
heroistired 0:2b80f11eb1d3 582 l4 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 583 mytheta1 = mytheta1 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 584 mytheta2 = mytheta2 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 585 if(abs(l1 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 586 {
heroistired 0:2b80f11eb1d3 587 theta4 = mytheta1;
heroistired 0:2b80f11eb1d3 588 }
heroistired 0:2b80f11eb1d3 589 else if(abs(l2 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 590 {
heroistired 0:2b80f11eb1d3 591 theta4 = -mytheta1;
heroistired 0:2b80f11eb1d3 592 }
heroistired 0:2b80f11eb1d3 593 else if(abs(l4 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 594 {
heroistired 0:2b80f11eb1d3 595 theta4 = mytheta2;
heroistired 0:2b80f11eb1d3 596 }
heroistired 0:2b80f11eb1d3 597 else
heroistired 0:2b80f11eb1d3 598 {
heroistired 0:2b80f11eb1d3 599 theta4 = -mytheta2;
heroistired 0:2b80f11eb1d3 600 }
heroistired 0:2b80f11eb1d3 601 //点5
heroistired 0:2b80f11eb1d3 602 MatrixSub(&topPlatform, 5, 1, 5, 4, &temp1); //等效于bottomPlatform(6,:) = (Rc * Rc * bottomPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 603 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 604 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 605 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 606 xx = temp2.Elements[f2(1,1,temp2.Size[1])] - bottomPlatform.Elements[f2(1,1,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 607 yy = temp2.Elements[f2(1,2,temp2.Size[1])] - bottomPlatform.Elements[f2(1,2,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 608 zz = temp2.Elements[f2(1,3,temp2.Size[1])] - bottomPlatform.Elements[f2(1,3,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 609 AA = -(l * l - xx * xx - yy * yy - r * r - zz * zz) / (2 * r * zz);
heroistired 0:2b80f11eb1d3 610 BB = 2 * r * xx / (2 * r * zz);
heroistired 0:2b80f11eb1d3 611 CC = BB * BB + 1;
heroistired 0:2b80f11eb1d3 612 DD = 2 * AA * BB;
heroistired 0:2b80f11eb1d3 613 EE = AA * AA - 1;
heroistired 0:2b80f11eb1d3 614 delta = DD * DD - 4 * CC * EE;
heroistired 0:2b80f11eb1d3 615 mytheta1 = acos((-DD + sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 616 mytheta2 = acos((-DD - sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 617 d = (xx + r * cos(mytheta1)) * (xx + r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 618 e = yy * yy;
heroistired 0:2b80f11eb1d3 619 f = (zz - r * sin(mytheta1)) * (zz - r * sin(mytheta1));
heroistired 0:2b80f11eb1d3 620 l1 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 621 d = (xx + r * cos(mytheta1)) * (xx + r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 622 e = yy * yy;
heroistired 0:2b80f11eb1d3 623 f = (zz - r * sin(-mytheta1)) * (zz - r * sin(-mytheta1));
heroistired 0:2b80f11eb1d3 624 l2 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 625 d = (xx + r * cos(mytheta2)) * (xx + r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 626 e = yy * yy;
heroistired 0:2b80f11eb1d3 627 f = (zz - r * sin(mytheta2)) * (zz - r * sin(mytheta2));
heroistired 0:2b80f11eb1d3 628 l3 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 629 d = (xx + r * cos(mytheta2)) * (xx + r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 630 e = yy * yy;
heroistired 0:2b80f11eb1d3 631 f = (zz - r * sin(-mytheta2)) * (zz - r * sin(-mytheta2));
heroistired 0:2b80f11eb1d3 632 l4 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 633 mytheta1 = mytheta1 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 634 mytheta2 = mytheta2 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 635 if(abs(l1 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 636 {
heroistired 0:2b80f11eb1d3 637 theta5 = mytheta1;
heroistired 0:2b80f11eb1d3 638 }
heroistired 0:2b80f11eb1d3 639 else if(abs(l2 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 640 {
heroistired 0:2b80f11eb1d3 641 theta5 = -mytheta1;
heroistired 0:2b80f11eb1d3 642 }
heroistired 0:2b80f11eb1d3 643 else if(abs(l4 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 644 {
heroistired 0:2b80f11eb1d3 645 theta5 = mytheta2;
heroistired 0:2b80f11eb1d3 646 }
heroistired 0:2b80f11eb1d3 647 else
heroistired 0:2b80f11eb1d3 648 {
heroistired 0:2b80f11eb1d3 649 theta5 = -mytheta2;
heroistired 0:2b80f11eb1d3 650 }
heroistired 0:2b80f11eb1d3 651 //点6
heroistired 0:2b80f11eb1d3 652 MatrixSub(&topPlatform, 6, 1, 6, 4, &temp1); //等效于bottomPlatform(6,:) = (Rc * Rc * bottomPlatform(3, :)')';
heroistired 0:2b80f11eb1d3 653 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 654 MatrixDot(&Rc, &temp2, &temp1);
heroistired 0:2b80f11eb1d3 655 MatrixTransposition(&temp1, &temp2);
heroistired 0:2b80f11eb1d3 656 xx = temp2.Elements[f2(1,1,temp2.Size[1])] - bottomPlatform.Elements[f2(2,1,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 657 yy = temp2.Elements[f2(1,2,temp2.Size[1])] - bottomPlatform.Elements[f2(2,2,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 658 zz = temp2.Elements[f2(1,3,temp2.Size[1])] - bottomPlatform.Elements[f2(2,3,bottomPlatform.Size[1])];
heroistired 0:2b80f11eb1d3 659 AA = -(l * l - xx * xx - yy * yy - r * r - zz * zz) / (2 * r * zz);
heroistired 0:2b80f11eb1d3 660 BB = -2 * r * xx / (2 * r * zz);
heroistired 0:2b80f11eb1d3 661 CC = BB * BB + 1;
heroistired 0:2b80f11eb1d3 662 DD = 2 * AA * BB;
heroistired 0:2b80f11eb1d3 663 EE = AA * AA - 1;
heroistired 0:2b80f11eb1d3 664 delta = DD * DD - 4 * CC * EE;
heroistired 0:2b80f11eb1d3 665 mytheta1 = acos((-DD + sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 666 mytheta2 = acos((-DD - sqrt(delta)) / 2 / CC);
heroistired 0:2b80f11eb1d3 667 d = (xx - r * cos(mytheta1)) * (xx - r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 668 e = yy * yy;
heroistired 0:2b80f11eb1d3 669 f = (zz - r * sin(mytheta1)) * (zz - r * sin(mytheta1));
heroistired 0:2b80f11eb1d3 670 l1 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 671 d = (xx - r * cos(mytheta1)) * (xx - r * cos(mytheta1));
heroistired 0:2b80f11eb1d3 672 e = yy * yy;
heroistired 0:2b80f11eb1d3 673 f = (zz - r * sin(-mytheta1)) * (zz - r * sin(-mytheta1));
heroistired 0:2b80f11eb1d3 674 l2 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 675 d = (xx - r * cos(mytheta2)) * (xx - r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 676 e = yy * yy;
heroistired 0:2b80f11eb1d3 677 f = (zz - r * sin(mytheta2)) * (zz - r * sin(mytheta2));
heroistired 0:2b80f11eb1d3 678 l3 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 679 d = (xx - r * cos(mytheta2)) * (xx - r * cos(mytheta2));
heroistired 0:2b80f11eb1d3 680 e = yy * yy;
heroistired 0:2b80f11eb1d3 681 f = (zz - r * sin(-mytheta2)) * (zz - r * sin(-mytheta2));
heroistired 0:2b80f11eb1d3 682 l4 = sqrt(d + e + f);
heroistired 0:2b80f11eb1d3 683 mytheta1 = mytheta1 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 684 mytheta2 = mytheta2 / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 685 if(abs(l1 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 686 {
heroistired 0:2b80f11eb1d3 687 theta6 = mytheta1;
heroistired 0:2b80f11eb1d3 688 }
heroistired 0:2b80f11eb1d3 689 else if(abs(l2 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 690 {
heroistired 0:2b80f11eb1d3 691 theta6 = -mytheta1;
heroistired 0:2b80f11eb1d3 692 }
heroistired 0:2b80f11eb1d3 693 else if(abs(l4 - l) <= 0.0001)
heroistired 0:2b80f11eb1d3 694 {
heroistired 0:2b80f11eb1d3 695 theta6 = mytheta2;
heroistired 0:2b80f11eb1d3 696 }
heroistired 0:2b80f11eb1d3 697 else
heroistired 0:2b80f11eb1d3 698 {
heroistired 0:2b80f11eb1d3 699 theta6 = -mytheta2;
heroistired 0:2b80f11eb1d3 700 }
heroistired 0:2b80f11eb1d3 701 Platform->theta[0] = theta1;
heroistired 0:2b80f11eb1d3 702 Platform->theta[1] = theta2;
heroistired 0:2b80f11eb1d3 703 Platform->theta[2] = theta3;
heroistired 0:2b80f11eb1d3 704 Platform->theta[3] = theta4;
heroistired 0:2b80f11eb1d3 705 Platform->theta[4] = theta5;
heroistired 0:2b80f11eb1d3 706 Platform->theta[5] = theta6;
heroistired 0:2b80f11eb1d3 707 theta0 = atan(lengthOfCardan / lengthOfSteelWheel) / 3.1415926 * 180;
heroistired 0:2b80f11eb1d3 708 Platform->theta_servo[0] = theta1 - theta0;
heroistired 0:2b80f11eb1d3 709 Platform->theta_servo[1] = theta2 - theta0;
heroistired 0:2b80f11eb1d3 710 Platform->theta_servo[2] = theta3 - theta0;
heroistired 0:2b80f11eb1d3 711 Platform->theta_servo[3] = theta4 - theta0;
heroistired 0:2b80f11eb1d3 712 Platform->theta_servo[4] = theta5 - theta0;
heroistired 0:2b80f11eb1d3 713 Platform->theta_servo[5] = theta6 - theta0;
heroistired 0:2b80f11eb1d3 714 }
heroistired 0:2b80f11eb1d3 715
heroistired 0:2b80f11eb1d3 716
heroistired 0:2b80f11eb1d3 717
heroistired 0:2b80f11eb1d3 718 //********************************************
heroistired 0:2b80f11eb1d3 719 //功能：角度制的三角函数 余弦
heroistired 0:2b80f11eb1d3 720 //输入参数：angle：角度
heroistired 0:2b80f11eb1d3 721 //输出参数：无
heroistired 0:2b80f11eb1d3 722 //返回值：三角函数值
heroistired 0:2b80f11eb1d3 723 //调用外部函数：无
heroistired 0:2b80f11eb1d3 724 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 725 //********************************************
heroistired 0:2b80f11eb1d3 726 float cosd(float angle)
heroistired 0:2b80f11eb1d3 727 {
heroistired 0:2b80f11eb1d3 728 return cos(angle/180*3.1415926);
heroistired 0:2b80f11eb1d3 729 }
heroistired 0:2b80f11eb1d3 730
heroistired 0:2b80f11eb1d3 731 //********************************************
heroistired 0:2b80f11eb1d3 732 //功能：角度制的三角函数 正弦
heroistired 0:2b80f11eb1d3 733 //输入参数：angle：角度
heroistired 0:2b80f11eb1d3 734 //输出参数：无
heroistired 0:2b80f11eb1d3 735 //返回值：三角函数值
heroistired 0:2b80f11eb1d3 736 //调用外部函数：无
heroistired 0:2b80f11eb1d3 737 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 738 //********************************************
heroistired 0:2b80f11eb1d3 739 float sind(float angle)
heroistired 0:2b80f11eb1d3 740 {
heroistired 0:2b80f11eb1d3 741 return sin(angle/180*3.1415926);
heroistired 0:2b80f11eb1d3 742 }
heroistired 0:2b80f11eb1d3 743
heroistired 0:2b80f11eb1d3 744
heroistired 0:2b80f11eb1d3 745 //********************************************
heroistired 0:2b80f11eb1d3 746 //功能：在命令行打印矩阵
heroistired 0:2b80f11eb1d3 747 //输入参数：A：要打印的矩阵
heroistired 0:2b80f11eb1d3 748 //输出参数：无
heroistired 0:2b80f11eb1d3 749 //返回值：无
heroistired 0:2b80f11eb1d3 750 //调用外部函数：无
heroistired 0:2b80f11eb1d3 751 //作者：陈欢 h-che14@mails.tsinghua.edu.cn
heroistired 0:2b80f11eb1d3 752 //********************************************
heroistired 0:2b80f11eb1d3 753 void PrintMatrix(MatrixType* A)
heroistired 0:2b80f11eb1d3 754 {
heroistired 0:2b80f11eb1d3 755 int i, j;
heroistired 0:2b80f11eb1d3 756 int pos2 = 0;
heroistired 0:2b80f11eb1d3 757 printf("\r\nThe Matrix is:\r\n");
heroistired 0:2b80f11eb1d3 758 for(i = 1; i <= A->Size[0]; i++)
heroistired 0:2b80f11eb1d3 759 {
heroistired 0:2b80f11eb1d3 760 for(j = 1; j <= A->Size[1]; j++)
heroistired 0:2b80f11eb1d3 761 {
heroistired 0:2b80f11eb1d3 762 pos2 = f2(i,j,A->Size[1]);
heroistired 0:2b80f11eb1d3 763 printf(" %f ", A->Elements[pos2]);
heroistired 0:2b80f11eb1d3 764 }
heroistired 0:2b80f11eb1d3 765 printf("\r\n");
heroistired 0:2b80f11eb1d3 766 }
heroistired 0:2b80f11eb1d3 767 }
heroistired 0:2b80f11eb1d3 768