screws.h

机器人运动学动力学及控制的一个小程序,供有兴趣的人参考

// Screws.h: interface for the CScrews class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_SCREWS_H__3408A45B_3265_486A_8689_97AE64E3B196__INCLUDED_)
#define AFX_SCREWS_H__3408A45B_3265_486A_8689_97AE64E3B196__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
#include "Matrix.h"
#include "Vector3.h"

#define PI 3.1415926
   
     
class CScrews  
{
public:
	CScrews();
	virtual ~CScrews();
//public:
 
};
 CMatrix Vector3ToMatrix41(CVector3 *vc,int point);
 CVector3 MatrixToVector3(int num,int col,CMatrix m);

 CMatrix AxisToSkew(CVector3 omiga);
 CMatrix AxisToTwist(CVector3 omiga,CVector3 q,double h);
 CMatrix SkewExp(CVector3 omiga,double theta);
 CMatrix TwistExp1(CVector3 omiga,double theta,CVector3 q,double h);
 CMatrix TwistExp2(CMatrix xi,double theta);
 CMatrix TwistToHomogeneous(CMatrix xi);
 CMatrix HomogeneousToTwist(CMatrix xise);
 CMatrix LiBrackets(CMatrix xi1,CMatrix xi2);
 CMatrix RigidAdjoint(CMatrix g);
 CMatrix InvertRigidAdjoint(CMatrix g);
 CVector3 RigidPosition(CMatrix g);
 CMatrix RigidOrientation(CMatrix g);


#endif // !defined(AFX_SCREWS_H__3408A45B_3265_486A_8689_97AE64E3B196__INCLUDED_)