oordinate.h

C arm 3D traslate 模擬C手臂在三度空間移動

// oordinate.h: interface for the Coordinate class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_OORDINATE_H__012E9BDE_1575_4CDF_9DEB_4F9AFE6C6D0E__INCLUDED_)
#define AFX_OORDINATE_H__012E9BDE_1575_4CDF_9DEB_4F9AFE6C6D0E__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include <iostream>
#include <stdlib.h>
#include <math.h>
#include "Matrix3D.h"
using namespace std;


class Coordinate  
{
public:
//	Coordinate();
	virtual ~Coordinate();
	double ca,sa,cb,sb,cg,sg;
	
   // Matrix3D R;

/*	R.m[0][0] =  ca*cb;       R.m[0][1] = ca*sb*sg - sa*cg;     R.m[0][2] = ca*sb*cg + sa*sg;
    R.m[1][0] =  sa*cb;       R.m[1][1] = sa*sb*sg + ca*cg;     R.m[1][2] = sa*sb*cg - ca*sg;
    R.m[2][0] = -sb;          R.m[2][1] = cb*sg;                R.m[2][2] = cb*cg;
*/
   // Vector V,T;
	CMatrix3D RotationX(double gamma);
	CMatrix3D RotationY(double beta);
    CMatrix3D RotationZ(double alpha);
	CMatrix3D Translate(double alpha, double beta,double gamma);
	//void Rotation(double alpha, double beta,double gamma,Matrix3D R);


};

#endif // !defined(AFX_OORDINATE_H__012E9BDE_1575_4CDF_9DEB_4F9AFE6C6D0E__INCLUDED_)