com_d43b.h

scara机器人的一种简单的实现方法

/***************************************************************/
/*  DATE:     1998.11.26 THURSDAY                              */
/*  AUTHOR:   LI XIUFENG                                       */
/*  CONTENT:  Common data of BP algorism                       */
/*  VERSION:  1.0					       */
/***************************************************************/

#include "defi43b.h"

const float pi=3.1415926;

struct input_data{
   float  e[NUM_input];
}; 					/* style of input data */

struct output_data{
   float  distance;
   float  theta;
   float  alpha;
}; 					/* style of input data */

int   NUM_node[4] = {NUM_input,
		     NUM_input,
		     NUM_node_2nd_layer,
		     NUM_output};            /* each layer's node number  */
float y0[NUM_input][MAX_num_sample],
      y1[NUM_input][MAX_cal_sample],
      y2[NUM_node_2nd_layer][MAX_cal_sample],
      y3[NUM_output][MAX_cal_sample];        /* data, layer, node, sample */
float DELTA_w1[MAX_cal_sample][MAX_node],
      DELTA_w2[MAX_cal_sample][MAX_node];
float real_y[NUM_output][MAX_num_sample];    /* real output, sample       */
float w3[NUM_layer][MAX_node][MAX_node];
float w2[NUM_layer][MAX_node][MAX_node];
float w1[NUM_layer][MAX_node][MAX_node];     /* weight, layer, node, node */
float w0[NUM_layer][MAX_node][MAX_node];
float th[NUM_layer][MAX_node];
float step_length_w, step_length, error, error1;
float Total_num_sample, optimize_step;