modellingcomponents:functions
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungNächste ÜberarbeitungBeide Seiten der Revision | ||
modellingcomponents:functions [2021/06/16 09:11] – [ddist()] oliver | modellingcomponents:functions [2021/09/28 15:52] – [normalize()] oliver | ||
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If the argument is a tuple with 3 elements, it is interpreted as a vector and the result is the normalized vector (length of the vector is set to 1). | If the argument is a tuple with 3 elements, it is interpreted as a vector and the result is the normalized vector (length of the vector is set to 1). | ||
- | ^ Argument | + | ^ Argument ^ Type ^ Description^ |
- | | 3d vector | real | | + | 1 | 3d vector | Normalize the vector. |
==== mid() ==== | ==== mid() ==== | ||
Zeile 355: | Zeile 355: | ||
| | ||
</ | </ | ||
- | ==== pocP() ==== | + | ==== PocP() ==== |
Point of contact plane: The first two arguments define a plane. The first is a point in this plane and the second defines the direction of a normal to this plane. A perpendicular is dropped from the point defined by the third point to this plane and the result value is the point of contact in the plane. | Point of contact plane: The first two arguments define a plane. The first is a point in this plane and the second defines the direction of a normal to this plane. A perpendicular is dropped from the point defined by the third point to this plane and the result value is the point of contact in the plane. | ||
Zeile 367: | Zeile 367: | ||
< | < | ||
- | pocP(A,B,C) | + | PocP(A,B,C) |
</ | </ | ||
Zeile 479: | Zeile 479: | ||
==== t() ==== | ==== t() ==== | ||
==== mat4() ==== | ==== mat4() ==== | ||
+ | |||
+ | ==== R() ==== | ||
+ | |||
+ | Get a double component from a matrix defined by row and column index. | ||
+ | |||
+ | **Arguments: | ||
+ | |||
+ | ^ Argument ^ Type ^ Description ^ | ||
+ | ^ 1 | MATRIX_3X3D | Matrix to get double components from. | | ||
+ | ^ 2 | INTEGER| row [0|1|2] | | ||
+ | ^ 3 | INTEGER| column [0|1|2] | | ||
+ | |||
+ | < | ||
+ | | ||
+ | </ | ||
+ | ===== Robotics functions ===== | ||
+ | ==== mdho() ==== | ||
+ | Determines the Origin of a coordinate based on the modified Denavit-Hartenberg convention. | ||
+ | |||
+ | **Arguments: | ||
+ | |||
+ | ^ Argument ^ Type ^ Description ^ | ||
+ | ^ 1 | VECTOR_3D | Origin the previous coordinate system | | ||
+ | ^ 2 | VECTOR_3D | Direction of the previous joint axis | | ||
+ | ^ 3 | REAL| Displacement on the previous joint axis of the origin. Typically this is 0. | | ||
+ | ^ 4 | VECTOR_3D | Point on the joint axis where the origin should be determined | | ||
+ | ^ 5 | VECTOR_3D | Direction ofthe joint axis where the origin should be determined | | ||
+ | |||
+ | === Examples === | ||
+ | |||
+ | < | ||
+ | | ||
+ | </ | ||
+ | ==== dhm() ==== | ||
+ | Determines the 4x4 Matrix of the Denavit Hartenberg convention based the DH parameters. | ||
+ | |||
+ | **Arguments: | ||
+ | |||
+ | ^ Argument ^ Type ^ Description ^ | ||
+ | ^ 1 | REAL| theta | | ||
+ | ^ 2 | REAL| alpha | | ||
+ | ^ 3 | REAL| d | | ||
+ | ^ 4 | REAL| r | | ||
+ | |||
+ | |||
+ | === Examples === | ||
+ | |||
+ | < | ||
+ | | ||
+ | </ |
modellingcomponents/functions.txt · Zuletzt geändert: 2021/11/09 11:22 von oliver