develop.cpp

矩阵运算库

// Develop.cpp : Defines the class behaviors for the application.
//

#include "stdafx.h"
#include "Develop.h"

#include "MainFrm.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CDevelopApp

BEGIN_MESSAGE_MAP(CDevelopApp, CWinApp)
	//{{AFX_MSG_MAP(CDevelopApp)
	ON_COMMAND(ID_APP_ABOUT, OnAppAbout)
		// NOTE - the ClassWizard will add and remove mapping macros here.
		//    DO NOT EDIT what you see in these blocks of generated code!
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDevelopApp construction

CDevelopApp::CDevelopApp()
{
	// TODO: add construction code here,
	// Place all significant initialization in InitInstance
}

/////////////////////////////////////////////////////////////////////////////
// The one and only CDevelopApp object

CDevelopApp theApp;

/////////////////////////////////////////////////////////////////////////////
// CDevelopApp initialization


#include <fstream>
using namespace std ;

#include <JMath.h>

#include "JStewartIter.h"




BOOL CDevelopApp::InitInstance()
{
	double		Pd[20][3] = {	7.25, 4.33, 0,
								6.56, 5.63, 0,
								5.04, 5.65, 0,
								4.26, 4.28, 0,
								5.02, 3.04, 0,
								6.54, 3.01, 0,

								6.00, 5.00, 0,
								5.00, 5.00, 0,
	} ;

	double		Qd[20][3] = {	6.95, 4.26, 0,
								6.39, 5.36, 0,
								5.19, 5.29, 0,
								4.64, 4.33, 0,
								5.17, 3.27, 0,
								6.39, 3.27, 0,
								
								6.02, 5.09, 0,
								5.03, 5.01, 0,
	} ;

	int		i, j ;
	const int		NL = 8 ;

	JVector		P[ NL ] ;
	JVector		Q[ NL ] ;

	for ( i=0 ;  i<NL ;  i++ )
	{
		for ( j=0 ;  j<3 ;  j++ )
		{
			P[i][j] = Pd[i][j] ;
			Q[i][j] = Qd[i][j] ;
		}
	}

	double		x[7] = { 5.74, 4.36, 1,
		9.961946980917456e-001, 2.329335204653890e-002,  
		4.658670409307780e-002,    6.988005613961669e-002 } ;

	double		x2[7] ;
	for ( i=0 ;  i<7 ;  i++ )	x2[i] = x[i] ;


	double		L[ NL ] ;

	JRotation	rot( x+3 ) ;
	JVector		r( x[0], x[1], x[2] ) ;
	JVector		v ;

	for ( i=0 ;  i<NL ;  i++ )
	{
		v = r + rot * Q[i] - P[i] ;

		L[i] = v.GetLength() ;
	}

	x[0] *= 1.05 ;
	x[1] *= 1.05 ;
	x[3] *= 1.00 ;
	x[6] *= 1.01 ;

	//int		flag = JStewart6( P, Q, L, x, 100, 1E-10 ) ;
	int		flag = JStewartN( P, Q, L, 6, x, 100, 1E-10 ) ;

	double		dx[7] ;
	for ( i=0 ;  i<7 ;  i++ )	dx[i] = x[i] - x2[i] ;



	ofstream	outf( "output.txt" ) ;
	outf.precision( 20 ) ;

	outf<< " flag " << flag << endl << endl ;

	outf<< " x " << endl ;
	for ( i=0 ;  i<7 ;  i++ )
		outf<< x[i] << endl ;

	outf<< endl << endl ;

	outf<< " dx " << endl ;
	for ( i=0 ;  i<7 ;  i++ )
		outf<< dx[i] << endl ;

	outf.close() ;
































	// To create the main window, this code creates a new frame window
	// object and then sets it as the application's main window object.

	CMainFrame* pFrame = new CMainFrame;
	m_pMainWnd = pFrame;

	// create and load the frame with its resources

	pFrame->LoadFrame(IDR_MAINFRAME,
		WS_OVERLAPPEDWINDOW | FWS_ADDTOTITLE, NULL,
		NULL);




	// The one and only window has been initialized, so show and update it.
	pFrame->ShowWindow(SW_SHOW);
	pFrame->UpdateWindow();

	return TRUE;
}

/////////////////////////////////////////////////////////////////////////////
// CDevelopApp message handlers





/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About

class CAboutDlg : public CDialog
{
public:
	CAboutDlg();

// Dialog Data
	//{{AFX_DATA(CAboutDlg)
	enum { IDD = IDD_ABOUTBOX };
	//}}AFX_DATA

	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAboutDlg)
	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
	//}}AFX_VIRTUAL

// Implementation
protected:
	//{{AFX_MSG(CAboutDlg)
		// No message handlers
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
	//{{AFX_DATA_INIT(CAboutDlg)
	//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CAboutDlg)
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
	//{{AFX_MSG_MAP(CAboutDlg)
		// No message handlers
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

// App command to run the dialog
void CDevelopApp::OnAppAbout()
{
	CAboutDlg aboutDlg;
	aboutDlg.DoModal();
}

/////////////////////////////////////////////////////////////////////////////
// CDevelopApp message handlers