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回复者：西门吹雪 回复日期：2002-10-20 11:04:32
<br>内容：做成一个块吗，也就是参数化，是吗？
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回复者：Norton AntivVirus 回复日期：2002-10-20 11:06:40
<br>内容：我想也许是吧!<BR>
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回复者：西门吹雪 回复日期：2002-10-20 11:11:44
<br>内容：很高兴能在这里认识你<BR>我真的不是计算机科班，有点术语不会用，你说什么是也许呀，是不是说的不对呀。还请指正<BR>今天在家没有上班吗
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回复者：Norton AntivVirus 回复日期：2002-10-20 12:39:25
<br>内容：我也不是科班出身,半道杀出来的,呵呵<BR><BR>一块学习吧!
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回复者：西门吹雪 回复日期：2002-10-20 14:12:25
<br>内容：好!<BR>向你学习,请多多关照
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回复者：Dasn 回复日期：2002-10-20 14:33:42
<br>内容：//由于我对你所描述的数学原形不太了解，所以只能从编程的角度修改一下。<BR><BR><BR>#include <iostream.h><BR>#include <math.h><BR>#define PI 3.14159265358979323846<BR>#define RADIANS(x) PI*(x)/180.0<BR>#define ARADIANS(x) 180.0*(x)/PI<BR>#define D1 7.83<BR>#define D2 7.03<BR>#define D3 6.51<BR>#define D4 0.0<BR>#define D5 0.0<BR>#define D6 2.63<BR><BR><BR>typedef struct tagADVERSE<BR>{<BR> double tht1,tht2,tht3,tht4,tht5,tht6;<BR>} ADVERSE;<BR><BR>//加一个结构指针参数<BR>void AdverEvaluate(ADVERSE *adver, double px,double py,double pz,double roll,double pitch,double yaw)<BR>{<BR> <BR> double p3x,p3y,p3z,p1,p2;<BR> double ax,ay,az,nx,ny,nz,ox,oy,oz;<BR> double T11,T12,T13,T14,T21,T22,T23,T24,T31,T32,T33,T34, T;<BR> double a11,a12,a13,a14,a21,a22,a23,a24,a31,a32,a33,a34;<BR> <BR> adver->tht1 = 0.0; //给结构赋初值<BR> adver->tht2 = 0.0;<BR> adver->tht3 = 0.0;<BR> adver->tht4 = 0.0;<BR> adver->tht5 = 0.0;<BR> adver->tht6 = 0.0;<BR> <BR><BR> nx=cos(roll)*cos(pitch);<BR> ny=sin(roll)*cos(pitch);<BR> nz=-sin(pitch);<BR><BR> ox=cos(roll)*sin(pitch)*sin(yaw)-sin(roll)*cos(yaw);<BR> oy=sin(roll)*sin(pitch)*sin(yaw)+cos(roll)*cos(yaw);<BR> oz=cos(pitch)*sin(yaw);<BR><BR> ax=cos(roll)*sin(pitch)*cos(yaw)+sin(roll)*sin(yaw);<BR> ay=sin(roll)*sin(pitch)*cos(yaw)-cos(roll)*sin(yaw);<BR> az=cos(pitch)*cos(yaw);<BR><BR> p3x=px-D6*ax;<BR> p3y=py-D6*ay;<BR> p3z=py-D6*az;<BR><BR> a11=nx*cos(adver->tht1)*cos(adver->tht2)+ny*sin(adver->tht1)*cos(adver->tht2)+nz*sin(adver->tht2);<BR> a12=ox*cos(adver->tht1)*cos(adver->tht2)+oy*sin(adver->tht1)*cos(adver->tht2)+oz*sin(adver->tht2);<BR> a13=ax*cos(adver->tht1)*cos(adver->tht2)+ay*sin(adver->tht1)*cos(adver->tht2)+az*sin(adver->tht2);<BR> a14=p3x*cos(adver->tht1)*cos(adver->tht2)+p3y*sin(adver->tht1)*cos(adver->tht2)+p3z-D1*sin(adver->tht2)-D2;<BR> <BR> a21=-nx*cos(adver->tht1)*sin(adver->tht2)-ny*sin(adver->tht1)*cos(adver->tht2)+nz*cos(adver->tht2);<BR> a22=-ox*cos(adver->tht1)*sin(adver->tht2)-oy*sin(adver->tht1)*cos(adver->tht2)+oz*cos(adver->tht2);<BR> a23=-ax*cos(adver->tht1)*sin(adver->tht2)-ay*sin(adver->tht1)*cos(adver->tht2)+az*cos(adver->tht2);<BR> a24=-p3x*cos(adver->tht1)*sin(adver->tht2)-p3y*sin(adver->tht1)*cos(adver->tht2)+p3z*cos(adver->tht2)-D1*cos(adver->tht2);<BR><BR> a31=nx*sin(adver->tht1)-ny*cos(adver->tht1);<BR> a32=ox*sin(adver->tht1)-oy*cos(adver->tht1);<BR> a33=ax*sin(adver->tht1)-ay*cos(adver->tht1);<BR> a34=p3x*sin(adver->tht1)-p3y*cos(adver->tht1);<BR><BR> adver->tht1=atan2(p3x,p3y);<BR><BR> p1=p3x*cos(adver->tht1)-p3y*sin(adver->tht1);<BR> p2=p3z-D1;<BR> T=(p1*p1+p2*p2-D2*D2-D3*D3)/(2*D2*D3);//T=cos(adver->tht3);<BR><BR> adver->tht3=atan2(sqrt(1-T*T),T);<BR> adver->tht2=atan2((p2*(D3*cos(adver->tht3)+D2)-p1*D3*sin(adver->tht3)),(p1*(D3*cos(adver->tht3)+D2)-p2*D3*sin(adver->tht3)));<BR><BR> T11=nx*(sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)+cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2))+<BR> ny*(sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)+sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3))+<BR> nz*(sin(adver->tht3)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht2)+cos(adver->tht3)*cos(adver->tht3)*cos(adver->tht2)*cos(adver->tht2));<BR> T12=ox*(sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)+cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2))+<BR> oy*(sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)+sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3))+<BR> oz*(sin(adver->tht3)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht2)+cos(adver->tht3)*cos(adver->tht3)*cos(adver->tht2)*cos(adver->tht2));<BR> T13=ax*(sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)+cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2))+<BR> ay*(sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)+sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3))+<BR> az*(sin(adver->tht3)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht2)+cos(adver->tht3)*cos(adver->tht3)*cos(adver->tht2)*cos(adver->tht2));<BR> T14=px*(sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)+cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht1)*cos(adver->tht3)*sin(adver->tht2))+<BR> py*(sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*sin(adver->tht3)*cos(adver->tht2)+sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*cos(adver->tht3))+<BR> pz*(sin(adver->tht3)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht2)+cos(adver->tht3)*cos(adver->tht3)*cos(adver->tht2)*cos(adver->tht2));<BR> T21=nx*sin(adver->tht1)*sin(adver->tht1)+ny*cos(adver->tht1)*cos(adver->tht1);<BR> T22=ox*sin(adver->tht1)*sin(adver->tht1)+oy*cos(adver->tht1)*cos(adver->tht1);<BR> T23=ax*sin(adver->tht1)*sin(adver->tht1)+ay*cos(adver->tht1)*cos(adver->tht1);<BR> T24=px*sin(adver->tht1)*sin(adver->tht1)+py*cos(adver->tht1)*cos(adver->tht1);<BR> T31=nx*(cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)+cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> ny*(cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)+sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> nz*(cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht2)+sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht2));<BR> T32=ox*(cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)+cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> oy*(cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)+sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> oz*(cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht2)+sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht2));<BR> T33=ax*(cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)+cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> ay*(cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)+sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> az*(cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht2)+sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht2));<BR> T34=px*(cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)*cos(adver->tht1)*cos(adver->tht2)*cos(adver->tht3)+cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*cos(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> py*(cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)*cos(adver->tht2)*sin(adver->tht1)*cos(adver->tht3)+sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3)*sin(adver->tht1)*sin(adver->tht2)*sin(adver->tht3))+<BR> pz*(cos(adver->tht3)*sin(adver->tht2)*cos(adver->tht3)*sin(adver->tht2)+sin(adver->tht3)*cos(adver->tht2)*sin(adver->tht3)*cos(adver->tht2));<BR> <BR> adver->tht4=atan2(T23,T13);<BR> adver->tht5=atan2(T31,(cos(adver->tht4)*T11+T21));<BR> adver->tht6=atan2((-sin(adver->tht4)*T11+cos(adver->tht4)*T21),(-sin(adver->tht4)*T12+cos(adver->tht4)*T22));<BR><BR> adver->tht1=ARADIANS(adver->tht1);<BR> adver->tht2=ARADIANS(adver->tht2);<BR> adver->tht3=ARADIANS(adver->tht3);<BR> adver->tht4=ARADIANS(adver->tht4);<BR> adver->tht5=ARADIANS(adver->tht5);<BR> adver->tht6=ARADIANS(adver->tht6);<BR>}<BR><BR>void main()<BR>{<BR> double px,py,pz,roll,pitch,yaw;<BR> ADVERSE adver;<BR><BR> cout<<"plaese insert:";<BR> cin>>px>>py>>pz>>roll>>pitch>>yaw;<BR> AdverEvaluate(&adver, px, py, pz, roll, pitch, yaw); //不要忘记调用函数<BR> cout<<":"<<endl<<endl;<BR> cout<<adver.tht1<<"\n"<<adver.tht2<<"\n"<<adver.tht3<<"\n"<<adver.tht4<<"\n"<<adver.tht5<<"\n"<<adver.tht6<<endl;<BR>} <BR>
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回复者：西门吹雪 回复日期：2002-10-20 15:41:09
<br>内容：Dasn老兄改的妙呀,结果一样.
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回复者：西门吹雪 回复日期：2002-10-20 15:42:54
<br>内容：这算一个算法吗?<BR>怎么感谢你呢,再开贴给你分吧.<BR>希望感兴趣的朋友在改呀,改的好也给分
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回复者：西门吹雪 回复日期：2002-10-20 16:58:59
<br>内容：加一个指针参数有什么好处呢
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回复者：Norton AntivVirus 回复日期：2002-10-20 18:34:13
<br>内容：不用指针也可以,只不过是把地址当参数传过去,在子函数中修改该地址的值,main中的值也就改变了,就不需要返回值了!
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