errorapart.cpp

对于转台控制系统中的精测误差分析与补偿算法

  #include "matlib.h"
  #pragma hdrstop
  
  #include "errorapart.h"
  
  
  Mm errorapart(Mm x1, Mm x2, Mm x3, Mm x4, Mm x5, Mm x6, Mm x7, Mm x8, Mm x9, Mm x10, Mm x11, Mm x12, Mm x13, Mm  \
    x14, Mm x15, Mm x16, Mm x17, Mm x18, Mm x19, Mm x20, Mm x21, Mm x22, Mm x23, Mm x24, Mm x25, Mm x26, Mm x27, Mm  \
    x28, Mm x29, Mm x30, Mm x31, Mm x32, Mm x33, Mm x34, Mm x35, Mm x36, Mm x37, Mm x38, Mm x39, Mm x40, Mm x41, Mm  \
    x42, Mm x43, Mm x44, Mm x45, Mm x46, Mm x47, Mm x48, Mm x49, Mm x50, Mm x51, i_o_t, Mm& cx__o, Mm& errlong__o,  \
    Mm& errshort__o) {
    begin_scope
    x1.setname("x1"); x2.setname("x2"); x3.setname("x3"); x4.setname("x4"); x5.setname("x5"); x6.setname("x6"); x7.setname( \
      "x7"); x8.setname("x8"); x9.setname("x9"); x10.setname("x10"); x11.setname("x11"); x12.setname("x12"); x13.setname( \
      "x13"); x14.setname("x14"); x15.setname("x15"); x16.setname("x16"); x17.setname("x17"); x18.setname("x18"); x19.setname( \
      "x19"); x20.setname("x20"); x21.setname("x21"); x22.setname("x22"); x23.setname("x23"); x24.setname("x24"); x25.setname( \
      "x25"); x26.setname("x26"); x27.setname("x27"); x28.setname("x28"); x29.setname("x29"); x30.setname("x30"); x31.setname( \
      "x31"); x32.setname("x32"); x33.setname("x33"); x34.setname("x34"); x35.setname("x35"); x36.setname("x36"); x37.setname( \
      "x37"); x38.setname("x38"); x39.setname("x39"); x40.setname("x40"); x41.setname("x41"); x42.setname("x42"); x43.setname( \
      "x43"); x44.setname("x44"); x45.setname("x45"); x46.setname("x46"); x47.setname("x47"); x48.setname("x48"); x49.setname( \
      "x49"); x50.setname("x50"); x51.setname("x51"); 
    dMm(cx); dMm(errlong); dMm(errshort); dMm(pnum); dMm(gg); dMm(x0); dMm(xz); dMm(sa); dMm(sp); dMm(k0); dMm(nn) \
      ; dMm(alpha); dMm(pitch); dMm(i_); dMm(i_errorapart_v0); dMm(xz1); dMm(i_errorapart_v1); dMm(ax); dMm(sds); dMm( \
      a); dMm(f); 
    
    #line 1 "d:/matcom45/samples/errorapart.m"
    call_stack_begin;
    #line 1 "d:/matcom45/samples/errorapart.m"
    // nargin, nargout entry code
    double old_nargin=nargin_val; if (!nargin_set) nargin_val=51.0;
    nargin_set=0;
    double old_nargout=nargout_val; if (!nargout_set) nargout_val=3.0;
    nargout_set=0;
    
    // translated code
    
    #line 2 "d:/matcom45/samples/errorapart.m"
    //pnum = 360;
    #line 3 "d:/matcom45/samples/errorapart.m"
_   pnum = x28;
    #line 4 "d:/matcom45/samples/errorapart.m"
_   gg = ctranspose((BR(x1),x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23));
    #line 5 "d:/matcom45/samples/errorapart.m"
    //[-2.9 -2.3 -1.2 -2.3 -2.9 1.0 -0.7 -0.7 -0.8 -1.6 -1.8 -0.1 -2.6 -1.7 -2.1 -2.5 -0.8 -2.0 -5.2 -2.8 -3.2 -3.7 -2.7]';
    #line 6 "d:/matcom45/samples/errorapart.m"
    //x0 = -0.4353;
    #line 7 "d:/matcom45/samples/errorapart.m"
_   x0 = x24;
    #line 8 "d:/matcom45/samples/errorapart.m"
    //xz = [0 -0.1 0.2 0.5 0.8 -0.7 -0.3 0 0.0 -0.1 0.6 -0.1 0.5 0.6 0.6 0.4 -0.4 -0.1 1.5 0.9 0.4 0.5 0.4]';
    #line 9 "d:/matcom45/samples/errorapart.m"
_   xz = ctranspose((BR(x29),x30,x31,x32,x33,x34,x35,x36,x37,x38,x39,x40,x41,x42,x43,x44,x45,x46,x47,x48,x49,x50, \
      x51));
    #line 10 "d:/matcom45/samples/errorapart.m"
    //sa = 'p';
    #line 11 "d:/matcom45/samples/errorapart.m"
_   sa = x25;
    #line 12 "d:/matcom45/samples/errorapart.m"
    //sp = 'p';
    #line 13 "d:/matcom45/samples/errorapart.m"
_   sp = x26;
    #line 14 "d:/matcom45/samples/errorapart.m"
    //k0 = 1;
    #line 15 "d:/matcom45/samples/errorapart.m"
_   k0 = x27;
    #line 16 "d:/matcom45/samples/errorapart.m"
_   nn = ctranspose((BR(1.0),2.0,3.0,4.0,5.0,6.0,7.0,8.0,9.0,10.0,11.0,12.0,13.0,14.0,15.0,16.0,17.0,18.0,19.0, \
      20.0,21.0,22.0,23.0));
    #line 17 "d:/matcom45/samples/errorapart.m"
_   alpha = x0+(nn-1.0)*360.0/23.0;
    #line 18 "d:/matcom45/samples/errorapart.m"
_   pitch = alpha*pnum/360.0-floor(alpha*pnum/360.0);
    
    #line 20 "d:/matcom45/samples/errorapart.m"
_   if (istrue((sp==1.0))) {
      #line 21 "d:/matcom45/samples/errorapart.m"
_     nn = k0+nn-1.0;
      #line 22 "d:/matcom45/samples/errorapart.m"
_     i_errorapart_v0 = colon(1.0,1.0,length(nn)); int i_errorapart_i0;
      for (i_errorapart_i0=0;i_errorapart_i0<i_errorapart_v0.cols();i_errorapart_i0++) {
        forelem(i_,i_errorapart_v0,i_errorapart_i0);
        #line 23 "d:/matcom45/samples/errorapart.m"
_       if (istrue(nn(i_)>23.0)) {
          #line 24 "d:/matcom45/samples/errorapart.m"
_         nn(i_) = nn(i_)-23.0;
          #line 25 "d:/matcom45/samples/errorapart.m"
        }
        #line 26 "d:/matcom45/samples/errorapart.m"
      }
      #line 26 "d:/matcom45/samples/errorapart.m"
_     i_;
      #line 27 "d:/matcom45/samples/errorapart.m"
_     xz1 = xz(nn);
      #line 28 "d:/matcom45/samples/errorapart.m"
    }
    
    #line 30 "d:/matcom45/samples/errorapart.m"
_   if (istrue((sp==-1.0))) {
      #line 31 "d:/matcom45/samples/errorapart.m"
_     nn = k0-nn-1.0;
      #line 32 "d:/matcom45/samples/errorapart.m"
_     i_errorapart_v1 = colon(1.0,1.0,length(nn)); int i_errorapart_i1;
      for (i_errorapart_i1=0;i_errorapart_i1<i_errorapart_v1.cols();i_errorapart_i1++) {
        forelem(i_,i_errorapart_v1,i_errorapart_i1);
        #line 33 "d:/matcom45/samples/errorapart.m"
_       if (istrue((k0-1.0)<=0.0)&&istrue(nn(i_)<-1.0)) {
          #line 33 "d:/matcom45/samples/errorapart.m"
          //edit by liren
          #line 34 "d:/matcom45/samples/errorapart.m"
_         nn(i_) = nn(i_)+25.0;
          #line 35 "d:/matcom45/samples/errorapart.m"
        } else {
          
          #line 36 "d:/matcom45/samples/errorapart.m"
_         nn(i_) = k0;
          #line 37 "d:/matcom45/samples/errorapart.m"
        }
        #line 38 "d:/matcom45/samples/errorapart.m"
_       k0 = k0-1.0;
        #line 39 "d:/matcom45/samples/errorapart.m"
      }
      #line 39 "d:/matcom45/samples/errorapart.m"
_     i_;
      #line 40 "d:/matcom45/samples/errorapart.m"
_     xz1 = -xz(nn);
      #line 41 "d:/matcom45/samples/errorapart.m"
    }
    
    #line 43 "d:/matcom45/samples/errorapart.m"
_   if (istrue((sa==1.0))) {
      #line 44 "d:/matcom45/samples/errorapart.m"
_     ax = (-gg-xz1)/0.36;
      #line 45 "d:/matcom45/samples/errorapart.m"
    }
    
    #line 47 "d:/matcom45/samples/errorapart.m"
_   if (istrue((sa==-1.0))) {
      #line 48 "d:/matcom45/samples/errorapart.m"
_     ax = (gg-xz1)/0.36;
      #line 49 "d:/matcom45/samples/errorapart.m"
    }
    
    #line 51 "d:/matcom45/samples/errorapart.m"
_   sds = ax(1.0);
    #line 52 "d:/matcom45/samples/errorapart.m"
_   ax = ax-sds;
    #line 53 "d:/matcom45/samples/errorapart.m"
_   cx = ax*0.36;
    #line 54 "d:/matcom45/samples/errorapart.m"
_   (BR(gg),xz1,cx);
    
    #line 56 "d:/matcom45/samples/errorapart.m"
_   alpha = transpose(alpha*3.14159265359/180.0);
    #line 57 "d:/matcom45/samples/errorapart.m"
_   a(1.0,1.0) = length(nn);
    #line 58 "d:/matcom45/samples/errorapart.m"
_   a(1.0,2.0) = cos(alpha)*transpose(ones(size(alpha)));
    #line 59 "d:/matcom45/samples/errorapart.m"
_   a(1.0,3.0) = sin(alpha)*transpose(ones(size(alpha)));
    #line 60 "d:/matcom45/samples/errorapart.m"
_   a(1.0,4.0) = cos(2.0*alpha)*transpose(ones(size(alpha)));
    #line 61 "d:/matcom45/samples/errorapart.m"
_   a(1.0,5.0) = sin(2.0*alpha)*transpose(ones(size(alpha)));
    #line 62 "d:/matcom45/samples/errorapart.m"
_   a(2.0,1.0) = a(1.0,2.0);
    #line 63 "d:/matcom45/samples/errorapart.m"
_   a(2.0,2.0) = cos(alpha)*transpose(cos(alpha));
    #line 64 "d:/matcom45/samples/errorapart.m"
_   a(2.0,3.0) = cos(alpha)*transpose(sin(alpha));
    #line 65 "d:/matcom45/samples/errorapart.m"